关键词: 工业机器人, UKF, 数据融合, 激光跟踪仪

Abstract:

To estimate the pose of industrial robot end effector quickly and accurately,a real-time estimation method was proposed based on UKF. This method was applied to industrial robot with laser feedback control system. In the industrial robot moving process, a rough estimation value of end effector pose was acquired by using forward position analysis and kinematics parameters of industrial robot in real time. And the position of a measured point fixed on end effector was obtained by a laser tracker. Then, UKF was employed to integrate the previous rough estimation value and the measured point position. The accurate pose of industrial robot end effector was evaluated by utilizing this method. Computer simulation results show that the presented method is achieved easily, and has fast calculation and high accuracy.

Key words: industrial robot, unscented Kalman filter(UKF), data fusion, laser tracker