利用校正球进行机器人结构参数识别的方法

A New Method to Identify the Structure Parameters of the Links in Robot

机器人末端执行器的运动轨迹是由多个构件共同协调运动决定,构件的结构参数误差必然影响到末端执行器的位姿,所以如何识别结构参数非常重要。文中提出一种利用校正球和相应的算法进行结构参数识别的方法,并在西安理工大学研制开发的FMM10 680机器人上进行了验证。

The final trajectory of end-effector is determined by cooperative movement of many components in robot, so that the posture of end-effector is certainly effected by the errors of structure parameters. It is very important that how to identify the structure parameters. A method to identify the structure parameters in robot is presented using calibration ball and relevant algorithms.The validity of this method is verified by the experiments performed on FMM10-680 developed by the Xi'an University of Technology.