面向具身智能的消毒机器人运动学标定与精度补偿方法  

Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot

作　　者：成军 范伟龙 邵金燕 周雪媚 CHENG Jun;FAN Weilong;SHAO Jinyan;ZHOU Xuemei(Department of Advanced Manufacturing and Robotics,College of Engineering,Peking University,Beijing 100871,China;Vehicle Testing Engineering Research Institute of China,Beijing 102100,China;101 Institute of Ministry of Civil Affairs,Beijing 100070,China)

机构地区：[1]北京大学工学院先进制造与机器人系,北京100871 [2]中机科(北京)车辆检测工程研究院有限公司,北京102100 [3]民政部一零一研究所,北京100070

出　　处：《智能科学与技术学报》2025年第1期77-85,共9页Chinese Journal of Intelligent Science and Technology

基　　金：国家重点研发计划项目(No.2022YFC3800400)。

摘　　要：提高消毒机器人的定位精度和增强其实时性是实现具身智能的重要前提,对于达成致病性微生物的高灭杀率至关重要,可以为医院、殡仪馆等场所的卫生安全提供有力保障。基于此,提出了一种消毒机器人运动学标定与精度补偿方法。首先,基于旋量理论提出一种运动学模型和误差模型的建模方法;其次,对运动区域进行划分并对特征点数据进行采样;再次,基于最小二乘法提出一种误差辨识算法,并通过采样数据实现辨识;最后,将定位误差补偿至机器人的末端位置,实现了精度补偿,并通过仿真实验验证了该方法的正确性。所提方法可以在保证实时性的同时大幅提高消毒机器人的定位精度,提升机器人的具身智能水平,为提高病菌的灭杀率和实现特殊场所的可靠防控提供了有力保障。Improving the positioning accuracy and real-time performance of disinfection robots are important prerequisites for achieving embodied intelligence,which is crucial to achieve a high sterilization rate of pathogenic microorganism,and can provide a strong guarantee for the health and safety of hospitals,funeral homes and other places.Therefore,a method for kinematics calibration and accuracy compensation of disinfection robot is proposed.First,a modeling method of kinematic model and error model based on screw theory is proposed.Second,the moving region is divided and the feature point data is sampled.Third,an error identification algorithm based on least square method is proposed,and the identification is realized by sampling data.Finally,the positioning error is compensated to the end position of the robot,and the accuracy compensation is realized.The correctness of the proposed method is verified by simulation experiments.The kinematic calibration and accuracy compensation method proposed can greatly improve the positioning accuracy of disinfection robot while ensuring real-time performance,enhance the level of robot’s embodied intelligence,and provide a strong guarantee for improving the killing rate of germs and realizing reliable prevention of special places.

关 键 词：运动学标定 精度补偿 消毒机器人 旋量理论 误差模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]