Robot Calibration Simulation Based on Planar Precision

Abstract

Abstract:

A new simple and inexpensive, robot calibration method based on planar constraint was presented. The process restricted the robot moving on a plane in the robot’s workspace. The actuators remembered the angle information of each joint, when the robot moved on the plane, so, the complex measurement procedure was avoided. The paper established the evaluation function, which demonstrated fitness degree of the robot’s positon and orientation to the plane. Besides,it deduced the Jacobin function coresponding to the specified parameters. In the end, a two link robot was established based on the MATLAB robot toolbox, simulation method was adopted to testify the method. The simulation results illustrate that the definite positioning precision of the robot’s endpoint is up to 50 times.

Key words: kinematic calibration, industrial robot, parameter recognition, planar constraint

摘要：

研究了一种测量简便、成本较低的基于平面精度的机器人标定方法，该方法限定了机器人末端手爪在其工作空间的平面内运动。在机器人的平面运动过程中，由关节驱动器记录平面上各采样点处的关节值并将这些值作为标定数据，避免了使用其他测量工具的复杂测量过程。建立了相应的评价方程以描述机器人所得位姿数据对该平面的逼近程度;给出了对应具体误差参数的辨识雅可比矩阵的求解方法，得出基于该雅可比矩阵的参数误差，并将该误差反向代回机器人运动学求解过程;最后使用MATLAB下的机器人工具箱建立了两连杆机器人模型，对该方法进行了仿真验证，仿真结果表明该方法将机器人绝对定位精度提高了50倍。



关键词:

运动学标定, 工业机器人, 参数辨识, 平面限位

CLC Number:

TP241.2

DONG Hui-Ying-1, LI Wen-An-2.

Robot Calibration Simulation Based on Planar Precision

[J]. China Mechanical Engineering, 2011, 22(17): 2039-2042.

董慧颖1, 李文广2.

一种基于平面精度的机器人标定方法及仿真

[J]. 中国机械工程, 2011, 22(17): 2039-2042.

References

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