双臂协作激光跟踪校准后抓取位姿精度分析  

Precision Analysis of Grasp Pose After Calibration of Dual-arm Collaborative Laser Tracking

作　　者：王熙杰 Wang Xijie(Hunan Vocational College of Railway Science and Technology,College of Railway Locomotive,Zhuzhou Hunan 412000,China)

机构地区：[1]湖南铁路科技职业技术学院铁道机车学院,湖南株洲412000

出　　处：《山西电子技术》2024年第4期37-39,共3页Shanxi Electronic Technology

基　　金：湖南省自然科学基金资助项目(2023JJ60234);湖南铁路科技职业技术学院资助项目(HNTKY-KT-2024-6)。

摘　　要：为了进一步提高机器人双臂协作抓取准确性,设计了一种双臂协作激光跟踪校准方案,并开展抓取位姿精度分析。研究结果表明:激光跟踪校准方法可以促进机器人定位与定向精度的明显提升。参数补偿后左右臂依次提高了定位精度。验证位型绝对定位精度由初始6.85 mm缩控至1.36 mm,同时绝对定向精度也由最初0.137 rad缩控至0.004 rad。该研究有助于提高机器人自动控制能力,也可以实现联网控制,具有很广的实用性。In order to further improve the accuracy of two-arm collaborative grasp,a two-arm collaborative laser tracking calibration scheme is designed and the grasp position and pose accuracy are analyzed.The results show that the laser tracking calibration method can significantly improve the positioning and orientation accuracy of the robot.After parameter compensation,the positioning accuracy of the left and right arms is improved successively.The absolute positioning accuracy of the verified configuration is reduced from the initial 6.85mm to 1.36,and the absolute orientation accuracy is reduced from the initial 0.137rad to 0.004rad.This research is helpful to improve the robot’s automatic control ability,and can also realize the network control,which has a wide range of practicability.

关 键 词：双臂协作 激光跟踪 校准 抓取 位姿精度 

分 类 号：TH137[机械工程—机械制造及自动化] TP274[自动化与计算机技术—检测技术与自动化装置]