首页 | 本学科首页   官方微博 | 高级检索  
     

机器人标定算法及在打磨机器人中的应用
引用本文:王东署,李光,徐方,徐心和.机器人标定算法及在打磨机器人中的应用[J].机器人,2005,27(6):491-496.
作者姓名:王东署  李光  徐方  徐心和
作者单位:东北大学教育部暨辽宁省流程工业综合自动化重点实验室,辽宁,沈阳,110004;沈阳供电公司大楼管理处,辽宁,沈阳,110006;沈阳新松机器人与自动化股份有限公司,辽宁,沈阳,110168
基金项目:国家863计划资助项目(2001AA422270).
摘    要:首先介绍了机器人位姿匹配的基本原理,以及两种通用的机器人几何参数标定的优化算法:非线性优化方法和递归线性方程法,并分别利用这两种优化算法对打磨机器人的几何参数进行了标定.在此基础上,通过分析影响打磨机器人位置误差的因素,从参数集中剔除对位置误差影响不敏感和无法区分其影响效果的因素,再采用前述优化算法对机器人几何参数进行标定. 仿真结果表明此标定效果和前者相比无显著差异,在一定情况下甚至优于前者.因此在标定过程中,可以采用把冗余参数去除来对机器人进行精确标定.

关 键 词:机器人  位姿匹配  误差标定  非线性优化方法  线性方程迭代法
文章编号:1002-0446(2005)06-0491-06
收稿时间:2005-03-21
修稿时间:2005-03-21

Robot Calibration Algorithms and Their Application to Polishing Robot
WANG Dong-shu,LI Guang-yan,XU Fang,XU Xin-he.Robot Calibration Algorithms and Their Application to Polishing Robot[J].Robot,2005,27(6):491-496.
Authors:WANG Dong-shu  LI Guang-yan  XU Fang  XU Xin-he
Affiliation:WANG Dong-shu, LI Guang-yan, XU Fang, XU Xin-he,( 1. Key Laboratory of Process Industry Automation of Ministry of Education, Northeastern University, Shenyang 110004, China; 2. Building Administration of Shenyang Electric Company, Shenyang 110006, China; 3. Shenyang SIASUN Robotics
Abstract:This paper introduces the basic principle of robot pose matching and two optimization algorithms,i.e.nonlinear optimization procedure and iterative linearization of the equations,and uses the two optimization algorithms respectively to calibrate the geometrical parameters of a polishing robot.Based on analyzing the factors affecting the robot position error,the algorithms eliminate the parameters which are non-sensitive to position accuracy and whose effects are indistinguishable to others,and repeat the calibration process.The simulation results show that calibration effect is not quite different from the algorithms obtained with the complete parameter set.In some cases,the latter is even better than the former.So it is feasible to calibrate the robot by substituting the complete parameter set with reduced set,with an improved accuracy.
Keywords:robot  pose matching  error calibration  nonlinear optimization procedure  iterative linearization of the equations
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《机器人》浏览原始摘要信息
点击此处可从《机器人》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号