摘要
工业机器人重复定位精度高而绝对定位精度低。为了提高工业机器人的绝对定位精度,提出一种绝对定位误差模型。基于该模型,利用激光跟踪仪和最小二乘法辨识出所需参数,并对误差进行补偿修正。最后,将这种方法应用在KUKA KR150-2机器人上进行测量和补偿。实验结果显示:平均绝对定位精度由补偿前的1.321mm变为补偿后的0.183mm,从而表明该方法的有效性。
The repeated positioning accuracy of the industrial robot is high, but the absolute positioning accuracy is low. In order to improve the absolute positioning accuracy of the industrial robot, an absolute positioning error model is introduced. Based on the model, parameters are identified with laser tracker and least squares method, and the error is eorreeted. At last, an example is presented, and the method is applied to KUKA KR150-2 robot. The result shows that the average absolute positioning accuracy changes from 1. 321 mm to O. 183 mm after calibration. So it indicates that the method is effective.
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2012年第B04期60-64,共5页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
工业机器人
绝对定位精度
最小二乘法
激光跟踪仪
industrial robot
absolute positioning accuracy
least squares method
laser tracker
