机器人定位精度标定技术的研究

Research on Robot's Positioning Accuracy Calibration

机器人末端位姿的精度依赖于各连杆几何参数的精度。为了提高机器人的位姿精度,需要对机器人进行标定,为此必须研究机器人运动学模型的建立方法。基于MDH模型和微分运动学,识别出机器人的各个连杆几何参数误差对机器人位姿精度影响程度,并结合最小二乘算法,对机器人的定位精度进行修正。实验表明,该方法适合对机器人几何参数误差的标定,并且能够提高机器人的综合性能。

In order to improve the precision of robot position and pose, depending on robot link parameters accuracy, it is needed to calibrate the robot. Establishing a robot kinematics model, and based on MDH model and differential coemcient kinematics identifying the influence of the link parameters error on the precision of robot, the positioning accuracy of robot by least square techniques is corrected. The experiment shows this method is practicable to calibrate the robot link parameter error and can improve the over-all properties.