六自由度工业机器人本体标定实验的研究

Research on Six Degree of Freedom Industrial Robot of Body Calibration Experiment

目前六自由度工业机器人普遍具重复定位精度较高,但绝对定位精度较低的特性,所以为了提高离线编程的精度,需要通过运动学建模、实际测量、参数辨识、误差补偿四步进行机器人本体标定。文中在概括总结现有的工业机器人本体标定技术的基础上,运用MATLAB进行运动学仿真建模,Leica AT960绝对激光跟踪仪系统进行实际测量,SA软件实现参数辨识,外部控制器进行关节补偿,完成本体标定实验。并在此基础上,按照GB/T12642-2013进行标定前后机器人位姿特性检测,通过Robot Check软件处理检测数据,对比前后结果,验证了本体标定实验。

At present the six degree of freedom （6-DOF） industrial robot is generally with higher repeat positioning accuracy, but the absolute positioning accuracy of robot is lower. Body calibration of the robot is carried out by following four steps ： kinematic modeling, actual measurement, parameter identification, and error compensation in order to improve the accuracy of off-line programming. Based on summarizing the existing industrial robot of body calibration technology, kinematic model simulation was completed through MATLAB, the real position and orientation were obtained based on Leica AT960 absolute laser tracker system, SA software was used to realize the parameter identification, and the error of robot joints was reduced by external controller to finish the experiment of robot body calibration finally. On the basis of the above work, according to GB/T12642-2013, detecting the position and orientation feature before and after the calibration experiments, test data was processed through the Robot Check software. Compare of the robot calibration results are completed to verify the body calibration experiment.