Research on Robot Parameter Calibration Based on Configuration Similarity Clustering

doi:10.3969/j.issn.1004-132X.2024.07.004

Abstract

Abstract: Based on the similarity mapping between positioning errors caused by non-geometric parameter errors and robot configurations, the robot parameter calibration configuration space was divided into multiple subspaces by clustering algorithm, then the parameter calibration was completed in each subspace. The configurations to be compensated were classified into the corresponding subspaces by similarity relation, then the robot motions were controlled according to the parameter calibration results of the subspaces, and the positioning errors caused by non-geometric parameter errors were compensated effectively. An UR5 robot was used as the calibration object for the experiments. Compared with the ordinary calibration compensation method, the maximum and average of the positioning error mode of the proposed method are reduced by 60.24% and 66.62% respectively after calibration compensation.

Key words: error compensation, parameter calibration, non-geometric parameter error, configuration similarity, K-means clustering algorithm

摘要： 利用非几何参数误差引起的定位误差与机器人位形之间的相似性映射关系，通过聚类算法将机器人参数标定位形空间划分为多个子空间，并在各个子空间中完成参数标定；利用相似性关系将待补偿位形归类到对应的子空间，根据子空间的参数标定结果控制机器人运动，实现非几何参数误差引起的定位误差的有效补偿。以UR5机器人为标定对象进行试验，与普通标定补偿方法相比，采用所提方法标定补偿后的位置误差模的最大值和平均值分别减小了60.24%和66.62%。

关键词: 误差补偿, 参数标定, 非几何参数误差, 位形相似度, K-means聚类算法

CLC Number:

TP242

GAO Wenbin1, 2, ZHAN Qingyuan1, 2. Research on Robot Parameter Calibration Based on Configuration Similarity Clustering[J]. China Mechanical Engineering, 2024, 35(07): 1168-1177，1187.

高文斌1, 2, 占庆元1, 2. 基于位形相似性聚类的机器人参数标定研究[J]. 中国机械工程, 2024, 35(07): 1168-1177，1187.

References

［1］李文龙, 谢核, 尹周平, 等. 机器人加工几何误差建模研究：Ⅰ空间运动链与误差传递［J］. 机械工程学报, 2021, 57(7):154-168.
LI Wenlong, XIE He, YIN Zhouping, et al. The Research of Geometric Error Modeling of Robotic Machining:Ⅰ Spatial Motion Chain and Error Transmission［J］. Journal of Mechanical Engineering, 2021, 57(7):154-168.
［2］邓柯楠, 高栋, 马守东, 等. 基于迁移学习的铣削机器人定位误差补偿方法［J］. 机械工程学报, 2022, 58(14):170-180.
DENG Kenan, GAO Dong, MA Shoudong, et al. An Efficient Error Compensation Method for Milling Robot Based on Transfer Learning［J］. Journal of Mechanical Engineering, 2022, 58(14):170-180.
［3］LI Zhibin, LI Shuai, LUO Xin. An Overview of Calibration Technology of Industrial Robots［J］. IEEE/CAA Journal of Automatica Sinica, 2021, 8(1):23-36.
［4］倪华康, 杨泽源, 杨一帆, 等. 考虑基坐标系误差的机器人运动学标定方法［J］. 中国机械工程, 2022, 33(6):647-655.
NI Huakang, YANG Zeyuan, YANG Yifan, et al. Robot Kinematics Calibration Method Considering Base Frame Errors［J］. China Mechanical Engineering, 2022, 33(6):647-655.
［5］史晓佳, 张福民, 曲兴华, 等. KUKA工业机器人位姿测量与在线误差补偿［J］. 机械工程学报, 2017, 53(8):1-7.
SHI Xiaojia, ZHANG Fumin, QU Xinghua, et al. Position and Attitude Measurement and Online Errors Compensation for KUKA Industrial Robots［J］. Journal of Mechanical Engineering, 2017, 53(8):1-7.
［6］QI Junde, CHEN Bing, ZHANG Dinghua. Compensation for Absolute Positioning Error of Industrial Robot Considering the Optimized Measurement Space［J］. International Journal of Advanced Robotic Systems, 2020, 17(2):172988142092164.
［7］WANG Yutian, LI Mengyu, WANG Junjian, et al. Kinematic Calibration Method for Large-sized 7-DOF Hybrid Spray-painting Robots［J］. Machines, 2022, 11(1):20.
［8］TIBONI M, LEGNANI G, PELLEGRINI N.Study of Neural-kinematics Architectures for Model-less Calibration of Industrial Robots［J］. Journal of Robotics and Mechatronics, 2021, 33(1):158-171.
［9］LI Bo, TIAN Wei, ZHANG Chufan, et al. Positioning Error Compensation of an Industrial Robot Using Neural Networks and Experimental Study［J］. Chinese Journal of Aeronautics, 2022, 35(2):346-360.
［10］周炜, 廖文和, 田威. 基于空间插值的工业机器人精度补偿方法理论与试验［J］. 机械工程学报, 2013, 49(3):42-48.
ZHOU Wei, LIAO Wenhe, TIAN Wei. Theory and Experiment of Industrial Robot Accuracy Compensation Method Based on Spatial Interpolation［J］. Journal of Mechanical Engineering, 2013, 49(3):42-48.
［11］QI Junde, CHEN Bing, ZHANG Dinghua. A Calibration Method for Enhancing Robot Accuracy through Integration of Kinematic Model and Spatial Interpolation Algorithm［J］. Journal of Mechanisms and Robotics, 2021,13(6):061013.
［12］洪鹏, 田威, 梅东棋, 等. 空间网格化的机器人变参数精度补偿技术［J］. 机器人, 2015, 37(3):327-335.
HONG Peng, TIAN Wei, MEI Dongqi, et al. Robotic Variable Parameter Accuracy Compensation Using Space Grid［J］. Robot, 2015, 37(3):327-335.
［13］高贯斌, 张石文, 那靖, 等. 基于标定和关节空间插值的工业机器人轨迹误差补偿［J］. 机械工程学报, 2021, 57(21):55-67.
GAO Guanbin, ZHANG Shiwen, NA Jing, et al. Compensation of Trajectory Error for Industrial Robots by Interpolation and Calibration Method in the Joint Space［J］. Journal of Mechanical Engineering, 2021, 57(21):55-67.
［14］CHEN Xiaoyan, ZHANG Qiuju, SUN Yilin. Non-kinematic Calibration of Industrial Robots Using a Rigid-Flexible Coupling Error Model and a Full Pose Measurement Method［J］. Robotics and Computer-Integrated Manufacturing, 2019, 57(C):46-58.
［15］SONG Yimin, LIU Mingming, LIAN Binbin, et al. Industrial Serial Robot Calibration Considering Geometric and Deformation Errors［J］. Robotics and Computer-Integrated Manufacturing, 2022, 76:102328.
［16］IKOTUN A M, EZUGWU A E, ABUALIGAH L, et al. K-means Clustering Algorithms:a Comprehensive Review, Variants Analysis, and Advances in the Era of Big Data［J］. Information Sciences:an International Journal, 2023, 622(C):178-210.
［17］高文斌, 罗瑞卿, 江自真. 基于局部指数积的模块化机器人运动学参数标定［J］. 机器人, 2021, 43(1):66-73.
GAO Wenbin, LUO Ruiqing, JIANG Zizhen. Kinematic-parameter Calibration for Modular Robots Based on the Local POE［J］. Robot, 2021, 43(1):66-73.
［18］高文斌, 王洪光, 姜勇. 一种基于指数积的串联机器人标定方法［J］. 机器人, 2013, 35(2):156-161.
GAO Wenbin, WANG Hongguang, JIANG Yong. A Calibration Method for Serial Robots Based on POE Formula［J］. Robot, 2013, 35(2):156-161.
［19］熊有伦. 机器人学:建模、控制与视觉［M］. 武汉:华中科技大学出版社, 2018.
XIONG Youlun. Robotics:Modeling, Control and Vision［M］. Wuhan:Huazhong University of Scienceand Technology Press, 2018.
［20］翟东海, 鱼江, 高飞, 等. 最大距离法选取初始簇中心的K-means文本聚类算法的研究［J］. 计算机应用研究, 2014, 31(3):713-715.
ZHAI Donghai, YU Jiang, GAO Fei, et al. K-means Text Clustering Algorithm Based on Initial Cluster Centers Selection According to Maximum Distance［J］. Application Research of Computers, 2014, 31(3):713-715.

[1]	LIU Yi, YI Wangmin, YAO Jiantao, WANG Xingda, YU Peng, ZHAO Yongshen. Design and Research of Heavy-duty Posture-adjusting Assembly Robots in Narrow Space [J]. China Mechanical Engineering, 2024, 35(02): 324-336.
[2]	YE Bosheng, JIN Xiongcheng, LI Han, SHAO Baiyan, LI Xiaokun, LI Siao. Robot Error Compensation Algorithm by Pseudo Target Iterative Generation [J]. China Mechanical Engineering, 2024, 35(01): 136-143.
[3]	LI Guangbao, GAO Dong, LU Yong, PING Hao, ZHOU Yuanyuan. Adaptive Kalman Filtering and PSO-GA-BP Algorithm for Robot Error Compensation [J]. China Mechanical Engineering, 2023, 34(20): 2456-2465.
[4]	TWANG Wei, MA Qianlun, BAI Zhenhua, WANG Ziang. Mechanics Property Prediction of Cold Rolled High Strength Steel Coils Based on GBD#br# [J]. China Mechanical Engineering, 2023, 34(18): 2222-2229.
[5]	ZHENG Gang, YAN Lifang, ZHANG Kaiwei, ZHANG Xu. Research on High-precision Six-axis Detection and Error Compensation Method for Blisk Blade Profiles [J]. China Mechanical Engineering, 2023, 34(08): 908-915，922.
[6]	CHEN Qidi, HU Xiaolong, LIN Min, SUN Xiaoxia, ZHANG Tao, ZHOU Zhixiong. Research Review of Error Compensation Technology for Ultra-precision Machining [J]. China Mechanical Engineering, 2023, 34(03): 253-268.
[7]	LIN Xin, ZHANG Jie, FENG Jingyi, MENG Jie, WANG Shuting. Highly Robust Two-stage LiDAR-IMU External Parameter Online Calibration Algorithm [J]. China Mechanical Engineering, 2022, 33(24): 2980-2989.
[8]	GAO Wenbin, CHU Yajie, YU Xiaoliu, . A Kinematic-parameter Calibration Method of Robots Based on Tool Coordinate [J]. China Mechanical Engineering, 2022, 33(18): 2183-2189.
[9]	LU Chengwei, QIAN Bozeng, WANG Huimin, XIANG Sitong. Key Geometric Error Analysis and Compensation Method of Five-axis CNC Machine Tools under Workpiece Feature Decomposition [J]. China Mechanical Engineering, 2022, 33(14): 1646-1653.
[10]	GAO Wenbin, HUANG Qi, YU Xiaoliu, . Research on Geometric Error Analysis and Parameter Identification of Modular Robots [J]. China Mechanical Engineering, 2022, 33(07): 811-817，851.
[11]	LI Yaozhong, WANG Shuting, JIANG Liquan, MENG Jie, XIE Yuanlong, . Motion Planning of Mobile Manipulators Based on RRT with Sparse Nodes [J]. China Mechanical Engineering, 2021, 32(12): 1462-1470.
[12]	WU Jinhui1,2；TAO Yourui1,2. Review on Research Status of Positioning Accuracy Reliability of Industrial Robots [J]. China Mechanical Engineering, 2020, 31(18): 2180-2188.
[13]	FU Guoqiang, RAO Yongjian, XIE Yunpeng, GAO Hongli, DENG Xiaolei. Error Sensitivity Analysis of Motion Axis for Five-axis CNC Machine Tools with Geometric Error Contribution [J]. China Mechanical Engineering, 2020, 31(13): 1518-1528.
[14]	KONG Juncheng;LI Ju;SHEN Huiping. Error Analysis and Compensation for Clearances among Kinematic Pairs of 2-RPaRSS Parallel Manipulators [J]. China Mechanical Engineering, 2020, 31(06): 706-713.
[15]	REN Yinghui, HUANG Xiangming, MA Zhongkai, ZHOU Zhixiong. Time Node Prediction Method for Material Delivery Based on Information Entropy [J]. China Mechanical Engineering, 2018, 29(22): 2725-2732.