| 六自由度工业机器人末端定位误差参数辨识与实验研究 |
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| 引用本文： | 唐越,郑金辉,王庆杰.六自由度工业机器人末端定位误差参数辨识与实验研究[J].现代制造工程,2021(2):21-26. |
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| 作者姓名： | 唐越 郑金辉 王庆杰 |
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| 作者单位： | 成都航空职业技术学院机电工程学院,成都610100;西南交通大学机械工程学院,成都610100 |
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| 基金项目： | 四川省教育厅自然科学重点项目 |
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| 摘 要： | 为了提高六自由度工业机器人绝对定位精度,对工业机器人进行了运动学建模,并建立了基于MD-H参数误差的机器人末端定位误差辨识模型,应用激光跟踪仪测量系统采集样本点数据,应用基于奇异值分解的最小二乘法求解辨识模型,以获得几何参数误差,并根据辨识出的误差对机器人末端定位精度进行补偿,实验结果表明,经过辨识和补偿后,工业机器人...
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| 关 键 词： | 工业机器人 定位误差 参数辨识 最小二乘法 |
Parameter identification and experimental research on the end positioning error of 6-DOF industrial robot |
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| TANG Yue,ZHENG Jinhui,WANG Qingjie.Parameter identification and experimental research on the end positioning error of 6-DOF industrial robot[J].Modern Manufacturing Engineering,2021(2):21-26. |
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| Authors: | TANG Yue ZHENG Jinhui WANG Qingjie |
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| Affiliation: | (School of Mechatronic Engineering,Chengdu Aeronautic Polytechnic,Chengdu 610100,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610100,China) |
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| Abstract: | In order to improve the absolute positioning accuracy of 6-DOF industrial robot,the kinematic modeling of industrial robot was carried out.The end positioning error identification model based on MD-H parameter was established.The laser tracker system was applied to measure sample points data.Identification model was solved by the ordinary least squares method based on singular value decomposition.The geometric parameter errors were identified and the robot end positioning accuracy was compensated according to the identified errors.The experimental results show that after identification and compensation,the absolute positioning accuracy of industrial robot is significantly improved,which can be used for offline programming and planning of complex processing operations. |
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| Keywords: | industrial robot positioning error parameter identification ordinary least squares method |
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