| 考虑基坐标系误差的机器人运动学标定方法 |
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| 引用本文： | 倪华康,杨泽源,杨一帆,陈新渡,严思杰,丁汉.考虑基坐标系误差的机器人运动学标定方法[J].中国机械工程,2022,33(6):647-655. |
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| 作者姓名： | 倪华康 杨泽源 杨一帆 陈新渡 严思杰 丁汉 |
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| 作者单位： | 1.江苏集萃华科智能装备科技有限公司，无锡，214100
2.华中科技大学机械科学与工程学院，武汉，430074 |
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| 基金项目： | 国家重点研发计划重点专项（2019YFA0706703）；
国家自然科学基金（52075204） |
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| 摘 要： | 提出了一种基于机器人几何参数误差与基坐标系位姿误差的六轴串联型机器人误差标定方法.首先基于MD-H方法建立了IRB6700机器人几何参数误差模型,得到机器人连杆几何参数误差到机器人末端位姿误差的映射关系;然后进一步考虑了基坐标系的位姿误差,并建立了考虑基坐标系误差的机器人误差模型;此外,针对传统标定方法操作繁琐、偶然误...
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| 关 键 词： | 工业机器人 运动学标定 误差模型 基坐标系位姿误差 |
Robot Kinematics Calibration Method Considering Base Frame Errors |
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| NI Huakang,YANG Zeyuan,YANG Yifan,CHEN Xindu,YAN Sijie,DING Han.Robot Kinematics Calibration Method Considering Base Frame Errors[J].China Mechanical Engineering,2022,33(6):647-655. |
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| Authors: | NI Huakang YANG Zeyuan YANG Yifan CHEN Xindu YAN Sijie DING Han |
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| Affiliation: | 1.Jiangsu Jitri-HUST Intelligent Equipment Technology Co.，Ltd.，Wuxi，Jiangsu，214100
2.School of Mechanical Science and Engineering，Huazhong University of Science and Technology，Wuhan，430074 |
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| Abstract: | A six-axis serial robot error calibration method was proposed based on the robot geometric parameter errors and the base frame position and attitude errors. Firstly， an geometric parameter error model of the IRB6700 robot was established based on the MD-H method， and the mapping relationship between the geometric parameter errors of the robot connecting rods and the end pose errors of the robot was obtained. Then， the position and attitude errors of the base frame were further considered， and the robot error model was established considering the errors of the base frame. In addition， to address the cumbersome operation and large accidental errors of traditional calibration methods， an improved parameter identification method was proposed to further improve the operability and calibration accuracy of the calibration processes. Finally， the body calibration experiments and the base frame error disturbance experiments were carried out. The results show that the proposed method decreases the average position error of the robot from 3.1928 mm to 0.1756 mm， and the standard deviation of the position errors decreases from 0.5494 mm to 0.0830 mm. Moreover， the consistency of the parameter identification results under base frame error disturbance is higher than 99%， and the calibration accuracy and stability are improved. |
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| Keywords: | industrial robot kinematics calibration error model base frame position and attitude error |
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