基于API激光跟踪仪对“15kg喷涂机器人”的D-H参数的标定研究

Examination on DH Parameter Calibration for “15kg Painting Robot” Based on API Laser Tracker

为了改善工业机器人的定位精度,工业机器人必须进行标定。通过建立机器人末端法兰中心位置与连杆MDH模型的线性关系误差模型,利用API T3激光跟踪仪确定机器人的基坐标系,作为激光跟踪仪测量的参考坐标系来测量目标点的坐标值,同时记录机器人控制器对应的名义坐标值。从而求出位置误差值ΔP,再联立误差线性关系模型,运用最小二乘法解出机器人的实际D-H参数值,并将此参数用于修正运动学模型,如果修正后的运动学模型未能达到要求,可进行反复迭代,直至满足工业机器人作业要求的定位精度。

To improve the positioning accuracy of the industrial robot, industrial robot must be cahbrated. By establlsing an error model on the linear relationship between the central position of the robot end flange and MD-H model and defining by API T3 laser tracker the base coordinate system of the robot as the reference coordinate system to be measured by the laser tracker to measure the coordinates of the target point while recording the nominal coordinates corresponding to the robot controller, the position error value ALP is obtained thereby and the model on linear relationship of the errors could be built on this basis. Using the least squares method to get the actual D-H parameters of the robot while using this parameter to correct the kinematics model. If the corrected kinematic model fails to meet the requirements, reiteration should be proceeded until the positioning accuracy required by the industrial robot for operation is satisfied.