刘伟, 赵剑波, 高峰, 戚开诚. 基于相对坐标的机器人末端位姿测量方法[J]. 机器人, 2009, 31(1): 15-19.
引用本文: 刘伟, 赵剑波, 高峰, 戚开诚. 基于相对坐标的机器人末端位姿测量方法[J]. 机器人, 2009, 31(1): 15-19.
LIU Wei, ZHAO Jian-bo, GAO Feng, QI Kai-cheng. Pose Measurement of Robot Based on Relative Coordinate[J]. ROBOT, 2009, 31(1): 15-19.
Citation: LIU Wei, ZHAO Jian-bo, GAO Feng, QI Kai-cheng. Pose Measurement of Robot Based on Relative Coordinate[J]. ROBOT, 2009, 31(1): 15-19.

基于相对坐标的机器人末端位姿测量方法

Pose Measurement of Robot Based on Relative Coordinate

  • 摘要: 为了解决机器人末端6维位姿难以测量的问题,提出了一种末端位姿的间接测量方法,并给出了适用条件.该方法只需测量末端平台6个目标点在单方向上的相对位移,便可得到机器人末端的6维位姿数据,而且可以消除测量工具的零值系统误差.分析了各几何误差对测量精度的影响,得到了误差影响矩阵以指导测量精度补偿.最后,以一台6自由度运动模拟器为例验证了该方法的有效性.

     

    Abstract: In order to overcome the difficulties in measuring the six-dimensional pose of robot,an indirect method to get the pose data is presented,and the application condition is given also.Based on this method,the six-dimensional pose can be obtained with the six relative displacements in a single direction of the six target points.Furthermore,system errors of the measuring tools can be eliminated automatically.The influence of geometric errors on measurement accuracy is analyzed,and the error influence matrices are obtained to provide a guide to error compensation.Finally,a pose measurement experiment with a 6-DOF parallel simulator validates the effectiveness of the method.

     

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