基于指数积公式的机器人标定方法

Method of Robot Calibration Based on the POE Formula

工业机器人的运动学参数误差是影响机器人绝对定位精度的最主要因素。为提高机器人的绝对定位精度,建立了MOTOMAN机器人的旋量模型,并提出了一种基于指数积(POE)公式的误差模型以及基于最小二乘的参数辨识方法。然后利用Leica激光跟踪仪及其配套的Spatial Analyzer软件对MOTOMAN-MH80机器人进行测量。最后利用POE误差模型对机器人进行运动学标定。实验结果表明标定后的运动学参数使机器人绝对定位精度提高了80%以上,从而验证了该方法的准确性。

Kinematic-parameter error of industrial robot is the most important factor affecting the robot absolute positioning accuracy. In order to improve the robot absolute positioning accuracy, this paper establishes the spinor model of MOTOMAN robot,and presents a error model based on the product of exponentials （POE） formula and the method of parameter identification based on least-squares. Then use the Leica laser tracker and its supporting Spa- tialAnalyzer software for the measurement of MOTOMAN - MH80 robot. Finally, use the POE error model for kine- matic calibration of the robot. The experimental resuh shows that kinematic parameters after calibration make the ab- solute positioning accuracy of the robot improved by more than 80% ,thus verifies the accuracy of the method.