基于三轴移动平台的机器人标定算法研究  

Research on the Calibration Algorithms for Robot Based on a Three-axis Moving Platform

作　　者：丁士杰 李成刚[1] 李志鹏 李鹏飞 朱陆进 DING Shijie;LI Chenggang;LI Zhipeng;LI Pengfei;ZHU Lujin(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2024年第5期57-63,共7页Machinery & Electronics

基　　金：南京航空航天大学科研与实践创新项目(xcxjh20220507);航空科学基金项目(201916052001)。

摘　　要：为解决机器人绝对定位精度较低的问题,提出一种基于三轴位移测量平台的机器人标定装置及对应的标定算法。利用尖锥约束和三轴移动平台测量机器人末端的位置误差,提出工具手标定和基座标定算法,基于MDH参数建立机器人的运动学参数误差标定模型,以合动TA6_R3六轴协作机器人为研究对象进行实验测试。实验结果显示,经过标定和补偿后机器人绝对定位误差的最大值由1.423 mm下降到0.824 mm,证明了上述标定装置和算法的有效性。In order to solve the problem of low absolute positioning accuracy of robots,a robot calibration device and corresponding calibration algorithm based on a three-axis displacement platform are proposed.By using cone constraints and a three-axis moving platform to measure the position error of the robot’s end effector,a tool calibration and base calibration algorithm are proposed.A kinematic parameter error calibration model of the robot is established based on MDH parameters.Hedong TA6_R3 six axis collaborative robot is used as the research object for experiments.The experimental results show that after calibration and compensation,the maximum absolute positioning error of the robot decreased from 1.423 mm to 0.824 mm,proving the effectiveness of the above calibration device and algorithm.

关 键 词：机器人 绝对定位精度 工具手标定 运动学参数标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]