六轴工业机器人的参数辨识方法

机器人末端位姿的精度依赖于各关节几何参数的精度。为了提高机器人的位姿精度，提出了一种简单实用的机器人参数辨识方法。利用D-H 算法建立的机器人运动学方程，得到了末端位姿与各关节参数的关系。为了解决辨识过程中的复杂计算问题，设计了一种采用拆分参数的迭代方法和相应的实验方法，运用激光跟踪仪对位姿进行精确测量，求得实际几何结构参数。实验结果验证了所提出方法的有效性。

Parameter Identification Method of 6-axis Industrial Robot

he position and pose accuracy of the robot end depends on the geometrical parameters accuracy of each joint． An easy and practical method of parameter identification method is put forward to improve the pose accuracy． Using the robot kinematics equation depending on D-H algorithm，the relationship between the end and each joint is obtained． This particular method as well as the corresponding experiment is designed to solve the problems in the identification process，the actual geometric structure parameters are obtained according to the accurate measurement by laser tracker． The experimental results verify the effectiveness of the presented method．