激光跟踪仪在机器人运动学参数补偿中的研究

Study on Laser Tracker in Robot Kinematics Parameter Compensation

机器人定位精度具有重要的实际应用价值,为了提高机器人的定位精度,提出一种激光跟踪仪的机器人运动学参数补偿方法。首先分析了当前机器人定位方法的优劣,并建立了机器人运动参数的数学模型,然后采用激光跟踪仪和神经网络对运动学参数进行估计,并对其误差进行补偿,最后采用仿真实验验证机器人运动学参数补偿的可行性。结果表明,本文方法通过对机器人运动学参数进行了有效补偿,可以获得比其它方法更高的机器人位置精度,为后继机器人研究奠定了理论基础。

Precision of robot localization has important practical value, in order to improve the precision of robot localization, a parameter compensation method of robot kinematics is proposed based on laser tracker robot. Begins with an analysis of the pros and cons of the precision of robot localization, and establishes a mathematical model of the robot motion, and then laser tracker and LSSCM is used to get the kinematic parameter errors and the error compensation, finally, the feasibility of the robot kinematics parameter compensation is verified by simulation experiments. The results show that the proposed method can effectively compensate the robot＇ s kinematics parameters, and can obtain higher accuracy of the robot position than other methods, which lays a theoretical foundation for the research of the robot.