一种低成本的并联机器人运动学标定方法

A Low Cost Kinematics Calibration of Parallel Robots

研究了一种适用于一般精度并联机器人的低成本运动学标定方法,该方法操作简单,避免了利用昂贵检测仪器测量末端位姿全集。以一台6维并联运动模拟台为例,建立了末端平台上6个标准球在单方向上的位置坐标增量残差与机构几何参数误差之间的关系,标定过程中仅需一个异型的游标卡尺就能检测6个单方向位姿数据。数值仿真表明,理论上该低成本的方法与基于末端位姿检测的传统标定方法的标定精度基本相同。最后,分析了游标卡尺测量误差及标准球安装误差对标定结果的影响。

A low cost kinematics calibration for the general precision parallel robot was proposed. This method was easy to handle without the pose information measured by the valuable apparatus. To specify this method, a calibration model of a 6-- DOF parallel simulator was set up, which set the relation between the displacement errors in single direction of six target balls and the pose residuals of the end--effector. With this model, the parameters of the parallel robot can be identified with the displacement data measured by the deformed vernier calipers. The digital simulation demonstrates theoretically that the calibration precision of the this method is similar with that of the conventional calibration algorithm. Finally, the influence of the measurementing errors and the positioning errors on the calibration was analyzed.