基于相对坐标的机器人末端位姿测量方法

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (541 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
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. ROBOT, 2009, 31(1): 15-19..

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．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	刘伟
	赵剑波
	高峰
	戚开诚

关键词 ：相对坐标, 位姿测量, 机器人, 系统误差

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.

Key words： relative coordinate pose measurement robot system error

收稿日期: 2008-08-06

TP242

基金资助:国家973计划资助项目（2006CB705400）；国家自然科学基金资助项目（60534020）

作者简介: 刘伟（1978- ），男，博士生．研究领域：并联机构设计及精度．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I1/15

[1] 王东署,张文丙.基于遗传算法的机器人最优测量构型研究[J].中国机械工程,2008,19(3):262～266.Wang Dong-shu,Zhang Wen-bing.Optimal measurement configurations for robot calibration based on genetic algorithm[J].China Mechanical Engineering,2008,19(3):262～266.
[2] Bai S P,Teo M Y.Kinematic calibration and pose measurement of a medical parallel manipulator by optical position sensors[J].Journal of Robotic Systems,2003,20(4):201～209.
[3] 董志强,段宝岩.立体视觉实时检测柔性机器人6-DOF位姿和运动轨迹[J].仪器仪表学报,2004,25(1):65～68,85.Dong Zhi-qiang,Duan Bao-yan.The measurement of position and orientation of 6-DOF cabin based on the computer vision[J].Chinese Journal of Scientific Instrument,2004,25(1):65～68,85.
[4] 左爱秋,吴江宁,李世伦,等.基于市体视觉的六自由度平台位姿检测基础研究[J].中国机械工程,2000,11(7):814～816.Zuo Ai-qiu,Wu Jiang-ning,Li Shi-lun,et al.Measurement of position and orientation of a parallel 6-DOF electrohydraulic servo platform based on stereo vision[J].China Mechanical Engineering,2000,11(7):814～816.
[5] 丁希仑,解玉文,战强.基于多传感器信息融合的物体位姿检测方法[J].航空学报,2002,23(5):483～486.Ding Xi-lan,Xie Yu-wen,Zhan Qiang.New method to measure the position and orientation of object using multiple sensor fusing technology[J].Acta Aeronautica Et Astronautica Sinica,2002,23(5):483～486.
[6] 周潜,叶佩青,张辉,等.Stewart机构在刚体6维测量中的精度[J].清华大学学报(自然科学版),2005,45(2):205～207,211.Zhon Qian,Ye Pei-qing,Zhang Hui,et al.Precision analysis of 6D measurements of a rigid body based on the Stewart platform[J].Journal of Tsinghna University (Science and Technology),2005,45(2):205～207,211.
[7] 余晓流,储刘火,岑豫皖,等.六自由度机器人位姿检测装置[P].中国:200410014906.5,2005-01-26.Yu Xiao-liu,Chu liu-huo,Cen Yu-wan,et al.The equipment for pose measurement of 6-DOF robot[P].China:200410014906.5,2005-01-26.
[8] 赵明扬,余晓流,王启义,等.一种并联机床运动平台位姿测量方法[J].中国机械工程,1999,10(10):1112～1113.Zhao Ming-yang,Yu.Xiao-liu,Wang Qi-yi,et al.A new method for measuring the movable platform position and orientation of parallel machine tool[J].China Mechanical Engineering,1999,10(10):1112～1113.
[9] 陆敏智,李开明.一种6-THHT并联机器人位姿检测方法[J].南京理工火学学报(自然科学版),2008,32(2):149～153.Lu Min-zhi,Li Kai-ming.Position and orientation measurement of 6-THHT parallel robot[J].Journal of Nanjing University of Science and Technology (Natural Science),2008,32(2):149～153.
[10] 洪振宇,梅江平,赵学满,等.基于球杆仪检测信息的并联机构运动学标定[J].机械工程学报,2007,43(7):16～22.Hung Zhen-yu,Mei Jiang-ping,Zhao Xue-man,et al.Kinematic calibration of the parallel mechanism using donNe-ballbar system[J].Chinese Journal of Mechanical Engineering,2007,43(7):16～22.
[11] 段广洪,张辉,周潜,等.刚体空间位姿测量装置及其测量方法[P].中国:200410009083.7,2004-05-12.Duan Guang-hong,Zhang hui,Zhou Qian,et al.The equipment and method for pose measurement of rigid body[P].China:200410009083.7,2004-05-12.
[12] 贺利乐,褚金奎.一种并联平台位姿的测量方法[J].机床与液压,2004,(11):183～184.He Li-le,Zhu Jin-kui.A new method for measuring the position and orientation of parallel platform[J].Machine Tool and Hydraulics,2004,(11):183～184.
[13] 赵剑波.染色体切割装备宏动系统研究[D].天津:河北工业大学,2007.9～26.Zhao Jian-bo.Research on the Macro Moving System of Chromosome Incision Equipment[D] ,Tianjin:Hebei University of Technology,2007.9～26.