基于去线性化误差的冗余机械臂两步标定法  

Two-Step Kinematic Calibration with Minimized Linearization Errors for A Redundant Manipulator

作　　者：蒋周翔 蒙月晨 陈世园 曹磊 龙忠杰[1] 宋宝[2] JIANG Zhouxiang;MENG Yuechen;CHEN Shiyuan;CAO Lei;LONG Zhongjie;SONG Bao(College of Mechanical and Electrical Engineering,Beijing Information Science&Technology University,Beijing 100192,China;School of Mechanical Science&Engineering,Huazhong University of Science&Technology,Wuhan 430074,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]华中科技大学机械科学与工程学院,武汉430074

出　　处：《组合机床与自动化加工技术》2025年第3期25-30,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金面上项目(52175452);国家自然科学基金青年基金项目(52005046)。

摘　　要：为解决冗余机械臂运动学标定时线性化误差导致的距离类运动学参数误差辨识精度劣化问题,提出了一种精确的两步运动学标定方法。通过理论分析论证了线性化误差的客观存在依据,在此基础上建立无需线性化的距离类运动学参数误差到臂体末端关节位姿误差的映射关系,构造了一种具有最小化线性化误差的运动学误差降维模型,并将其与典型运动学标定方法组合得到两步标定法。仿真结果表明,当角度类运动学参数误差上升一个量级时,线性化误差在末端关节位姿误差平均占比也增大约10倍,对角度类运动学参数误差具有高敏感性。对比验证表明,新方法能在距离类运动学参数误差的辨识精度上平均提升60.2%,并将标定后的残差在典型运动学标定方法基础上减少73.3%。A precise two-step kinematic calibration method for redundant manipulator is proposed to improve degraded identification accuracy of translational kinematic errors caused by model linearization.The existence of linearization error was demonstrated through theoretical analysis.Based on this,a mapping from translational kinematic errors without linearization to pose errors of last joint was established.A kinematic error dimensionality reduction model with minimal linearization error was established,and combined with typical kinematic calibration to construct a two-step calibration method.The simulation showed that when the rotational kinematic error increases by one order of magnitude,the average proportion of linearization error in the end joint pose error also increases by about 10 times,indicating its high sensitivity to rotational kinematic errors.Further comparative verification shows that the new method improves the identification accuracy of translational kinematic errors by an average of 60.2%,and reduce the calibrated residual by 73.3%from those with typical kinematic calibration method.

关 键 词：冗余机械臂 运动学标定 线性化误差 辨识精度 混合标定 

分 类 号：TH161[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]