摘要
针对双机器人基坐标系标定过程复杂、定位精度不高,提出一种基于"三点定圆"的改进双机器人基坐标系标定方法。通过分析误差原理以及引入高斯白噪声误差,结合理论分析和软件仿真设计实验。结果表明改进后的双机器人基坐标系标定方法具有准确性和稳定性,保持了良好的定位精度。
Aiming at the complex calibration process and low positioning accuracy of the base coordinate system of double robots,this paper proposes an improved base coordinate system calibration method of double robots based on"three-point circle determination".By analyzing the error principle and introducing Gaussian white noise error,the experiment is designed by combining theoretical analysis and software simulation.The results show that the improved calibration method has accuracy and stability,and maintains good positioning accuracy.
作者
纪慧君
苗鸿宾
李孟虔
双立
贾磊
JI Huijun;MIAO Hongbin;LI Mengqian;SHUANG Li;JIA Lei(School of Mechanical Engineering,North University of China,Taiyuan 030051,CHN;Shanxi Province Deep Hole Machining Center,Taiyuan 030051,CHN)
出处
《制造技术与机床》
北大核心
2021年第11期72-76,共5页
Manufacturing Technology & Machine Tool
基金
中央引导地方科技发展专项资金项目(YDZX20191400002765)
山西重点研发计划项目(201903D421006)。
关键词
双机器人
三点定圆
基坐标系
高斯白噪声
double robot
three point fixed circle
base coordinate system
Gaussian white noise