打磨机器人误差建模与参数辨识

简要介绍了一种实用的机器人位姿误差建模方法一摄动法，并利用此方法建立了打磨机器人位姿误差模型，对利用三坐标测量机测量的误差数据进行了建模补偿。误差参数辨识中，在传统的九线法的基础上，提出了单点法测量机器人的误差参数，克服了九线法中三测量点位置误差对测量结果的影响，提高了测量结果的可信度。实验结果表明，建模补偿后机器人位姿误差平均值降低到初始值的1／5左右，最大值降低到初始值的1／6左右，验证了所建模型的正确性和参数辨识方法的有效性。

Polishing Robot Error Modeling and Parameter Recognition

A useful pose modeling method-perturbation approach is introduced,and used to establish the polishing robot error model.Error modeling and compensation are done based on the data measured by three coordinate measuring machines.In error parameter identification,on the basis of the traditional 9-line method,a single point approach is presented to measure the error,and it overcomes the influence of three points positioning error on the measurement results in 9-line method.The measurement reliability and accuracy are improved.Experiment results show that robot average pose error deduces to 1/5 of its initial value,maximum error reduces to 1/6 of its initial value.These results verify the correctness of the model and effect of the parameter identification approach.