工业机器人几何参数标定综述

Survey on Industry Robot Geometry Parameters Calibration

工业机器人几何参数误差是影响机器人作业精度的主要误差源,对其精确标定能够在不改变硬件设备前提下提高机器人绝对定位精度.在深入分析国内外有关几何参数标定方法基础上,根据测量方法的不同将机器人几何参数标定总结为外部测量标定法和自标定法两种.对外部测量标定法从建模、测量、参数辨识和误差补偿方面进行总结;对自标定法从基于空间约束和冗余传感器两个方面展开阐述.分析现有机器人几何参数标定方法存在的不足,提出面向新一代几何产品技术规范(GPS)的机器人几何参数标定发展方向.

Errors of robot operation accuracy mainly result from geometry parameter errors of industry robots. Thereforehigh accurate calibration can greatly improve the absolute positioning accuracy of robots on analysis of geometry parameters calibration methods on robot at home and external measurement calibration and self-calibration methods according to different measurement methods. measurement calibration, four aspects, i. e. , modeling, measurement, parameter identification and error compensation are summarized. For self-calibration, space-based constraints and redundant sensors are expounded. The shortcomings of the existing methods for geometry parameters calibration are analyzed. At the same time, this paper also studies the development trending of geometry parameter calibration of robots in face of new-generation geometry product specification（GPS）.