一种不完全补偿机器人标定方法

为了避免修改影响机器人逆运动学模型的参数,分析了绝对定位误差的主要来源,以及标定需要保证的前提条件。在此基础上介绍了一种标定方法,该方法利用三坐标测量仪对机器人六个关节分别进行测量,生成六组点云,对每组点云采用最小二乘法拟合平面及圆。根据D-H参数的定义,计算出容易补偿的各参数实际值,并依据计算结果对参数进行了补偿。通过实验证明,该方法有效提高了绝对定位精度,使精度能够满足实际工程需要,而且操作简单方便,实用性强。

A robot calibration method based on partially compensation

In order to avoid modifying some influential parameters of the inverse kinematics model,this paper analyses central sources of absolute error about robot,and requisite preconditions of compensation.On this basis,it describes a robot calibration approach,which uses coordinate measuring machine to measure the six joints of the robot to generate six sets of point cloud,using the least squares method fit plane and a round each group of point cloud.Compensating adjustment is made according to metrical result for partial D-H parameters.At last,it is proved that the absolute accuracy of the robot is highly improved after calibration by experiment,and this way has definite practical applications.