协作机器人的运动学误差模型及标定算法

Kinematics Error Model and Calibration Algorithm of Collaborative Robot

针对六自由度协作机器人在实际应用中,由于加工、装配、传动和磨损等多方面因素,导致绝对定位精度低的问题,提出一种基于机器人工具末端的运动学误差模型建立方法。在无外部传感设备的条件下根据所设计的标定板,基于最小二乘法和采集的多组机器人实际位姿误差辨识误差模型,对机器人运动学参数与其理论值间的偏差进行补偿。修改底层控制器中参数,修正由于机器人内部机构偏差引起的绝对定位精度误差,提高机器人运行位置精度。

To improve the low accuracy of absolute positioning caused by the influence of processing,assembly,transmission and wear in the practical application of the six-degree-of-freedom collaborative robot,a method of establishing kinematic error model of tool end is proposed.Under the condition of no external sensor equipment and according to the designed calibration board,the deviation between the robot kinematic parameters and their theoretical values is compensated by the least square method and with collected multiple sets of robot actual pose error identification error models.The parameters in the bottom controller is modified and the absolute positioning accuracy error caused by the internal mechanism deviation of the robot is corrected so as to improve the accuracy of the robot running position.