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基于误差模型的机器人运动学参数标定方法与实验 被引量：35

Calibration Method and Experiments of Robot Kinematics Parameters Based on Error Model
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摘要 提出一种基于误差模型的机器人运动学位置参数和角度参数分离标定方法.利用MCPC(modified complete and parametrically continuous)方法建立机器人运动学方程,推导相对于惯性坐标系的机器人运动学误差模型,提出将位置参数与角度参数分离的运动学参数标定方法.为了解决标定过程中关节角度误差问题,设计一套基于关节角度校正的机器人运动学参数标定实验方法.实验结果验证了所提出方法的有效性. A method of robot kinematics parameters calibration based on error model is proposed, which separates posi-tional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC （modified complete and parametrically continuous） method, while kinematics error model relative to inertial coordinate system is de- rived. On the basis, the separated kinematics parameters calibration method is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is verified by experiment results.
作者 陈钢 贾庆轩 李彤 孙汉旭
机构地区 北京邮电大学自动化学院
出处 《机器人》 EI CSCD 北大核心 2012年第6期680-688,共9页 Robot
基金 国家自然科学基金资助项目(61175080) 中央高校基本科研业务费专项资金资助项目(BUPT2011rc0026)
关键词 串联机器人 误差模型 运动学参数标定 关节角度校正 serial robot error model kinematics parameter calibration joint angle correction
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献13

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二级参考文献21

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共引文献27

同被引文献250

引证文献35

二级引证文献239

机器人
2012年 第6期

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