机械臂绝对定位精度标定关键技术综述

目前我国飞机和卫星装配仍主要采用人工装配，装配技术陈旧、机器人绝对定位精度低等问题难以满足飞机和卫星高精度、高性能的要求，阻碍了工业机器人在航空制造行业的发展，因此，在机器人柔性自动化装配过程中，如何提高机械臂绝对定位精度的标定技术已成为学术界和工业界广泛关注的焦点。为了系统地分析和总结现有的研究成果，对绝对定位精度标定方法进行了分类探讨，归纳了国内外机械臂标定技术的研究现状，详细分析了误差不确定性、冗余参数的消除及最优测量结构选择性等关键技术，并对机械臂绝对定位精度标定技术的未来发展趋势进行了构想和展望。

Review on Key Technology of Manipulator Absolute Positioning Accuracy Calibration

Nowadays, our country main aircraft and satellites fabrication are still using artificial assembly. Old-fashion assembly technology and low robot absolute position accuracy problems are difficult to satisfy the requirement of high precision, high performance of aircraft and satellite. It hinders the development of industrial robots in aviation manufacturing industry. Thus in the process of robot flexible automated assembly, how to improve the mechanical manipulator absolute positioning accuracy calibration technology has become wide focus on academia and industry. In order to systematically analyze and summarize the existing research results, it discusses absolute positioning accuracy calibration methods. It summarizes the research status of the mechanical arm calibration technology at home and abroad. It analyses key technologies such as the error of uncertainty, elimination of redundant parameters and the optimal measuring structure selectivity. The paper conceive and look to the future development trends of manipulator absolute positioning accuracy calibration technique.