机械臂运动学标定技术发展概况

Review on Kinematics Calibration Technology of Manipulator

机械臂运动学标定对提高机械臂的绝对定位精度具有重要意义,探究高效的机械臂标定方法已成为机器人领域研究的热点。现有标定方法可分类为基于模型的参数运动学标定、自标定和无参数运动学标定三类,对基于模型的参数运动学标定,从运动学建模、末端执行器测量、参数辨识和误差补偿四个方面详细介绍了其研究现状。对各种标定方法进行了比较,并分析了其优缺点。最后对机械臂运动学标定中存在的问题进行了分析,展望了标定技术的未来发展趋势。

Robotic manipulator kinematics calibration is of great significance to improve the absolute positioning accuracy,and it has become the target of extensive research to explore the efficient method of robotic manipulator calibration.In this article,calibration methods are classified into model-based parameter kinematics calibration,autonomous calibration and non-parametric kinematics calibration.It introduces the research status of the model-based parameter kinematics calibration from kinematics calibration modeling,measurement of terminal attitude,parameter identification and error compensation.After comparing the various calibration methods,their advantages and disadvantages are extracted.Finally,the problems existing in the robotic manipulator kinematics calibration are analyzed and the future development trend of the calibration technique is prospected.