串联机器人单点定位精度可靠性研究

Research on the Reliability of Single Point Positioning Accuracy of Series Robot

为评定机器人定位精度的可靠性,本文根据测量重复性和采样策略对机器人标定结果的影响,采用轴线测量法对六自由度串联机器人几何参数进行标定,应用蒙特卡洛算法对机器人末端单点定位精度的可靠性进行分析计算。结果表明:随着精度阈值增大,串联机器人定位精度的可靠度提升,应用蒙特卡洛算法,能对机器人定位精度可靠性进行准确评估。

In order to evaluate the reliability of the positioning accuracy of the robot,according to the influence of measurement repeatability and sampling strategy on the calibration results of the robot,the axis measurement meth-od was used to calibrate the geometric parameters of the 6-DOF series robot,and the Monte Carlo algorithm was used to analyze and calculate the reliability of the single point positioning accuracy of the robot end.The results show that with the increase of precision threshold,the reliability of series robot positioning accuracy im-proves.Monte Carlo algorithm can be used to accurately evaluate the reliability of robot positioning accuracy.