一种基于激光位移测量的机械臂参数标定方法

A parameter calibration method for manipulators based on laser displacement measurement

针对传统机器人参数标定方法,通常依赖昂贵设备,技术实现成本高的问题,提出一种新型低成本的基于激光位移测量的机器人标定系统,利用安装于机械臂末端的激光位移计进行与外部参照物立方体的相对位置测量,并设计实现了六自由度机械臂的运动学参数标定方法。基于单维度位移测量值,采用平面度约束与平面角度约束共同构建误差函数,并利用非线性优化方法求得最终的标定结果。在实验系统上进行标定方法的验证,并与利用激光追踪仪标定的实验结果进行对比。实验数据表明:所提方法在操作简便、成本低廉的同时,能够获得与使用昂贵的外部测量仪器近似的标定效果。

The traditional method of robot parameter target usually requires an expensive equipment,and the technical realization cost is high,a novel low-cost calibration method for manipulators is proposed,which utilizes a laser displacement sensor installed on the end of the manipulator to measure the relative position of the manipulator end with respect to an external cubic reference.A kinematic parameter calibration is designed for a 6 degree of freedom manipulator.Based on single-dimensional measurements,the error function is constructed with combined consideration of plane flatness and plane angles,and further minimized with a nonlinear optimization method to obtain the final calibration results.The proposed method is testified on an experimental system and compared with the calibration by a laser tracker.Results show that this method has similar calibration accuracy to the methods using expensive external measurement devices and provides a handy and cheap solution to manipulator calibration.