基于激光测距传感器的机械臂运动学参数标定

Calibration of kinematics parameters of manipulator based on laser range finder

传统方法采集位姿信息误差大,影响运动学参数标定结果的可靠性,为此提出基于激光测距传感器的机械臂运动学参数标定方法。首先光学系统选用直光学法入射非垂直接收屏方式的三角法,并分析了激光测距传感器光路原理,然后在对机械臂末端位姿进行测量的过程中,令三个激光测距传感器向机械臂发射激光束,综合不同传感器测量距离,利用机械臂末端位姿的改变对激光测距传感器的移动进行调整,实现位姿信息采集,最后构建机械臂误差模型,给出重复定位误差,令其达到最小,获取满足机械臂要求的运动模型,实现运动学参数的标定。实验结果表明,本文方法进行运动学参数标定后,机械臂位姿定位误差大大降低。

The traditional method has large error in collecting position and posture information,which affects the reliability of the calibration results of kinematic parameters.To this end,a new calibration method for kinematic parameters of the manipulator based on laser range finder is proposed.The composition of laser ranging sensor system is introduced,and the design process of optical system and electrical system is given.The optical system adopts the trigonometric method of direct optical method to enter the non vertical receiving screen mode,and the principle of the laser path sensor＇s optical path is analyzed.In the process of measuring the pose of the end effector,the three laser ranging sensor to mechanical arm emission of the laser beam,different sensor measuring distance,movement of the laser ranging sensor is adjusted by the end manipulator posture change,realizes the pose information collection. The error model of the manipulator is built,and the repetitive positioning error is given to minimize it,and the motion model satisfying the mechanical arm requirement is obtained to achieve the calibration of kinematic parameters.The experimental results show that the positioning error of the manipulator is greatly reduced after the proposed method is used to calibrate the kinematic parameters.