六自由度液压机械臂运动学标定和逆解研究  

Research on Kinematic Calibration and Inverse Solution of 6-DOF Hydraulic Manipulator

作　　者：梁相龙 姚志凯 邓文翔 姚建勇[1] LIANG Xianglong;YAO Zhikai;DENG Wenxiang;YAO Jianyong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094;College of Automation,Nanjing University of Post and Telecommunication,Nanjing 210023)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]南京邮电大学自动化学院,南京210023

出　　处：《机械工程学报》2025年第2期346-357,共12页Journal of Mechanical Engineering

基　　金：国家重点研发计划(2021YFB2011300);国家自然科学基金(52075262,52275062)资助项目。

摘　　要：鉴于运动学标定能够有效地提高机械臂的定位精度且逆运动学求解是控制机械臂正确运动的关键。以六自由度液压机械臂为研究对象,采用M-DH方法和几何映射方法分别实现了液压机械臂Ⅰ型运动学和Ⅱ型运动学误差建模,然后基于列文伯格-马夸尔特(Levenberg-Marquardt,L-M)算法辨识误差参数。另外考虑到机械臂存在几何参数误差,无法应用反变换法求解机械臂的逆运动学,为此提出一种结合解析解法和偏微分理论的逆解计算方法。仿真试验结果表明,经过L-M算法标定后,液压机械臂的末端位置误差从3.0329 mm下降到0.0070 mm,效果提升99.77%,液压缸1的位置误差从1.2762 mm下降到0.0003 mm,效果提升99.98%,液压缸2的位置误差从1.1670 mm下降到0.0012 mm,效果提升99.90%,证明了标定算法的有效性。此外仿真结果还表明所提出的逆解计算方法可有效地获得机械臂逆解。In view of the fact that kinematics calibration can effectively improve the positioning accuracy of the robotic manipulator and inverse kinematics solution is the key to controlling the correct motion of the robotic manipulator.Taking the six-degree-of-freedom(6-DOF)hydraulic manipulator as the research object,the M-DH method and the geometric mapping method are utilized to establish theⅠ-type andⅡ-type kinematic error models of the hydraulic manipulator,and then the kinematic parameter deviations are identified based on the Levenberg-Marquardt(L-M)algorithm.In addition,the inverse transformation method cannot be leveraged to solve the inverse kinematics because of geometric parameter errors in the robotic manipulator.Therefore,an inverse solution calculation method combining analytical solution and partial differential theory is proposed.The simulation results reveal that after calibration by the L-M algorithm,the end position error of the hydraulic manipulator is reduced from 3.0329 mm to 0.0070 mm,the effect is improved by 99.77%,the position error of hydraulic cylinder 1 is reduced from 1.2762 mm to 0.0003 mm,the effect is increased by 99.98%,and the position error of hydraulic cylinder 2 is reduced from 1.1670 mm to 0.0012 mm,the effect is increased by 99.90%,which illustrates the validity of the calibration algorithm.Moreover,the simulation results also reveal that the proposed inverse solution calculation method can effectively obtain the inverse solution of the robotic manipulator.

关 键 词：液压机械臂 运动学标定 Ⅰ型运动学误差建模 Ⅱ型运动学误差建模 逆运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]