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| 基于激光跟踪仪的协作机器人标定算法与实验研究 | |
| 引用本文： | 陈相君,古力那尔·祖农,薛梓,栗大超,班朝,任国营.基于激光跟踪仪的协作机器人标定算法与实验研究[J].计量学报,2021,42(5):552-557. |
| 作者姓名： | 陈相君 古力那尔·祖农 薛梓 栗大超 班朝 任国营 |
| 作者单位： | 1. 天津大学 精密测试技术及仪器国家重点实验室,天津 300072 2. 新疆维吾尔自治区计量测试研究院,新疆 乌鲁木齐 830011 3. 中国计量科学研究院,北京 100029 4. 中国计量大学 机电工程学院,浙江 杭州 310018 |
| 基金项目： | 国家重点研发计划资助项目(2018YFF0212701,2018YFF0212702) |
| 摘 要： | 为了提高机器人末端绝对定位精度,提出了一种基于激光跟踪仪测量的机器人几何参数标定方法,对协作机器人的参数误差进行辨识和补偿.为了避免机械臂相邻两个轴平行时会出现奇异性的情况,采用了MDH参数法建立误差模型;为了把测量数据定义在同一坐标轴上,结合了机器人工具坐标系转换(靶球中心点相对于机器人末端坐标系的平移变换);进而用... |
| 关 键 词： | 计量学 协作机器人 激光跟踪仪 MDH模型 绝对定位精度 坐标系转换 |
| 收稿时间： | 2020-05-13 |
Calibration Algorithm and Experimental Research of Cooperative Robot Based on Laser Tracker |
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| CHEN Xiang-jun,ZUNONG Gulinaer,XUE Zi,LI Da-chao,BAN Zhao,REN Guo-ying.Calibration Algorithm and Experimental Research of Cooperative Robot Based on Laser Tracker[J].Acta Metrologica Sinica,2021,42(5):552-557. | |
| Authors: | CHEN Xiang-jun ZUNONG Gulinaer XUE Zi LI Da-chao BAN Zhao REN Guo-ying |
| Affiliation: | 1. State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University,Tianjin 300072, China 2. Xinjiang Uygur Autonomous Region Research Institute of Measurement and Testing, Urumqi, Xinjiang 830011, China 3. National Institute of Metrology, Beijing 100029, China 4. College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China |
| Abstract: | In order to improve the absolute positioning accuracy of the robot end,a method for calibrating the geometric parameters of the robot based on laser tracker measurement is proposed to identify and compensate the parameter errors of the cooperative robot.In order to avoid singularity when the two axes of the robot arm are parallel,MDH parameter method is used to establish the error model. In order to define the measurement data on the same coordinate axis,the robot tool coordinate transformation is combined (the translational transformation of the target ball′s center point relative to the robot′s terminal coordinate system),and the levenberg marquardt (LM) method is used to identify the model parameter error of the robot.Through the simulation,experimental calculation and calibration of JAKA cooperative robot,the average error,the standard deviation and the maximum error of the robot are reduced respectively by 70.58%,56.76% 57.44%.The results show that the calibration algorithm can effectively identify the model parameter errors of the robot,and compensate the model parameters of the robot to improve the absolute positioning accuracy. |
| Keywords: | metrology cooperative robots laser tracker MDH model absolute positioning accuracy coordinate system transformation |
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