| 一种基于平面精度的机器人标定方法及仿真 |
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| 引用本文： | 董慧颖,李文广. 一种基于平面精度的机器人标定方法及仿真[J]. 中国机械工程, 2011, 22(17) |
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| 作者姓名： | 董慧颖 李文广 |
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| 作者单位： | 1. 沈阳理工大学,沈阳,110159
2. 山东省机器人与制造自动化技术重点实验室,济南,250014 |
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| 摘 要： | 研究了一种测量简便、成本较低的基于平面精度的机器人标定方法,该方法限定了机器人末端手爪在其工作空间的平面内运动。在机器人的平面运动过程中,由关节驱动器记录平面上各采样点处的关节值并将这些值作为标定数据,避免了使用其他测量工具的复杂测量过程。建立了相应的评价方程以描述机器人所得位姿数据对该平面的逼近程度;给出了对应具体误差参数的辨识雅可比矩阵的求解方法,得出基于该雅可比矩阵的参数误差,并将该误差反向代回机器人运动学求解过程;最后使用MATLAB下的机器人工具箱建立了两连杆机器人模型,对该方法进行了仿真验证,仿真结果表明该方法将机器人绝对定位精度提高了50倍。
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| 关 键 词： | 运动学标定 工业机器人 参数辨识 平面限位 |
Robot Calibration Simulation Based on Planar Precision |
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| Dong Huiying Li Wenguang .Shenyang Ligong University,Shenyang, .Sh,ong Provincial Key Laboratory of Robot , Manufacturing Automation Technology,Jinan. Robot Calibration Simulation Based on Planar Precision[J]. China Mechanical Engineering, 2011, 22(17) |
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| Authors: | Dong Huiying Li Wenguang .Shenyang Ligong University Shenyang .Sh ong Provincial Key Laboratory of Robot Manufacturing Automation Technology Jinan |
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| Affiliation: | Dong Huiying1 Li Wenguang2 1.Shenyang Ligong University,Shenyang,110159 2.Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Jinan,250014 |
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| Abstract: | A new simple and inexpensive,robot calibration method based on planar constraint was presented.The process restricted the robot moving on a plane in the robot's workspace.The actuators remembered the angle information of each joint,when the robot moved on the plane,so,the complex measurement procedure was avoided.The paper established the evaluation function,which demonstrated fitness degree of the robot's positon and orientation to the plane.Besides,it deduced the Jacobin function coresponding to the speci... |
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| Keywords: | kinematic calibration industrial robot parameter recognition planar constraint |
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