基于运动学参数标定方法的机械臂误差分析与仿真研究

Error analysis and simulation of manipulator based on kinematics parameter calibration method

针对工作任务复杂或环境多变,且对机械臂精度要求较高的工业生产需求等问题,基于运动学参数标定方法进行了机械臂的误差分析与Matlab仿真。介绍了定位精度以及定位误差的来源,针对机械臂运动学标定的方法步骤,采用矩阵法对运动学参数标定误差模型进行了建模分析,推导出了运动学参数误差模型的通用形式,并添加一个微小的增量进行了误差补偿;采用Matlab对机械臂运动学参数误差模型进行了仿真分析,验证了所建立的误差模型的正确性。研究结果表明:基于运动学参数标定方法的机械臂误差分析能很好地提高机械臂的精度,使机械臂能够准确完成预期的位姿要求,对于进一步提高机械臂的精度有较好的指导作用。

Aiming at the problem of the complexity of work tasks or the changing environment, and the industrial production requirements of higher precision requirements for manipulator,error analysis and Matlab simulation were carried out based on the calibration method of manipulator kinematics parameters. The content of the positioning accuracy and the source of the positioning error were introduced in general, applying the matrix method, the error model of kinemutics purameter calibration were modeled and analyzed, the general form of kinematics parameter error model was derived , and a small increment was added to compensate the error. The error model was proved to be correct by Matlab simulation analysis of the manipulator kinematics parameter error model.The results indicate that the error analysis based on the kinematics parameter calibration method of the manipulator can improve the accuracy of the manipulator, enable the manipulator to complete the expected posture requirements accurately, and have a good guiding role for further improving the accuracy of the manipulator.