多PSD距离约束的机器人定位精度快速标定

Fast Calibration of Robot Positioning Accuracy with Multiple PSD Distance Constraints

针对机器人标定周期长的问题,提出了一种基于PSD与激光线共约束下关节机器人的快速标定方法。在标定过程中,PSD设备测量机器人末端激光器发出的空间异面光线之间的距离d,在机器人系下计算对应的空间异面光线之间的距离d,两者构成距离约束,利用PSO算法对机器人系统参数误差进行辨识。机器人精度通过瞄准任意固定点测量投影点扩散半径的平均值来衡量,扩散半径由1.0 mm降低到0.2 mm。该标定方法周期大约2 h,实现快速标定。

Aiming at the problem of a long robot calibration cycle,a fast calibration method of the joint robot based on the co-constraint of PSD and laser line is proposed.In the calibration process,the PSD equipment measures the distance dbetween the light in different planes by the laser at the end of the robot,and calculates the distance dbetween the corresponding light rays on the different planes under the robot frame to form a distance constraint,using the PSO algorithm identify the parameter deviations of robot system.The accuracy of the robot is measured by aiming at any fixed point to measure the average value of the diffusion radius of the projection point.The diffusion radius is reduced from 1.0 mm to 0.2 mm.The calibration method takes about 2 h to achieve rapid calibration.