喷涂机器人的激光跟踪测量法运动参数标定  

Spraying Robot Kinematical Parameter Calibration Based on Laser Tracker

作　　者：贺红林[1] 凌普 吴少兴 周楠兰 

机构地区：[1]南昌航空大学航空制造工程学院,南昌330063 [2]昆山工业研究院机器人研究所有限公司,江苏昆山215300

出　　处：《控制工程》2016年第8期1149-1155,共7页Control Engineering of China

基　　金：国家自然科学基金(51265040);国家科技重大专项(2010ZX04008-041)

摘　　要：旨在提高喷涂机器人运动精度,研究其运动参数标定问题。先为机器人定义D-H参数并推导出其四参数运动方程。考虑到喷涂机器人第二、第三关节平行,故在机器人运动方程中引入关节扭角参数,而建立五参数模型。推导出机器人超静定误差标定模型,实现了标定模型的最小二乘法求解。建立了标定系统,在对目标位姿点示教基础上对这些点进行激光跟踪测量,获取了这些点的位姿真值和标称值;针对测取的位姿信息进行两次标零和一次五参数标定计算,得到D-H参数补偿值。引入位置准确度及定位精度评析标定结果。机器人经五参数模型标定补偿后,绝对定位精度可提高60%以上。To improve spraying robots' positioning accuracy, a calibration method is proposed. Firstly, a motion model for a spraying robot with four D-H parameters is built. Because of several joints of the robot being parallel, twist angle is added as the fifth D-H parameter, so that a new model is obtained, resulting in a novel error calibration model. Then, a solution to the model based on least square method is derived, and a calibration system based on API laser tracker is built. Fifty robot positions selected through robot teaching-programming are tracked and measured by API. Finally, Three calibrations are carried based on these positions and gestures, so that D-H parameter compensation could be obtained, while the former two calibrations using zero point calibration method and the third calibration using model are proposed in this paper. The mean square and the maximal positioning errors are employed to evaluate calibration effects. Experiments show that the robot's positioning accuracy can be increased by nearly 60 % after D-H parameter compensation.

关 键 词：喷涂机器人 五参数误差模型 激光跟踪仪 标定试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]