工业机器人运动学参数误差两步识别法  

Kinematic Parameter Error Identification for Industrial Robot with Two-Step Procedure

作　　者：郭剑鹰[1] 吕恬生 王乐天[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030

出　　处：《上海交通大学学报》2003年第11期1670-1674,共5页Journal of Shanghai Jiaotong University

基　　金：985"工程资助项目

摘　　要：提出了将转动误差和定位误差分离的参数误差两步线性识别方法.利用刚体相对转动误差识别出仅与转动相关的运动学参数误差;由已校准的参数并利用刚体距离误差识别出其余的运动学参数误差.两步识别法不仅避免了测量坐标系与机器人坐标系的转换以及参数估计误差的传递,而且有效解决了距离方法中存在的奇异和非线性问题,可以快速求出参数误差的线性解.该识别法不仅可以用于串联、并联机器人的校准,而且适用于数控机床、坐标测量机等的误差识别与补偿.A two-step linear parameter estimation method was presented. Through rigid body relative rotation error, the kinematic parameter deviations contributing to the rotation error can be identified. With these calibrated kinematic parameters as joint angle and link twist, the error of the rest parameters can be distinguished from the distance error. By the two-step method, the transformation between the robot base frame and the inertial frame is avoided. The singularity and nonlinear is overcome and the close-form solution can be obtained. The new method can not only be applied to the serial, parallel robot kinematic calibration, but also for the case of CNC machinery and CMM error compensation.

关 键 词：工业机器人 运动学校准 误差建模 参数识别 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]