基于末端转角误差的并联机器人零点标定方法

doi:10.13973/j.cnki.robot.170450

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梅江平, 贺媛, 臧家炜. 基于末端转角误差的并联机器人零点标定方法[J]. 机器人, 2018, 40(5): 685-692,703.DOI: 10.13973/j.cnki.robot.170450. MEI Jiangping, HE Yuan, ZANG Jiawei. Home Position Calibration of Parallel Robot Based on the RotaryAngle Errors of End-effector. ROBOT, 2018, 40(5): 685-692,703. DOI: 10.13973/j.cnki.robot.170450.

摘要针对一种4自由度高速并联机器人（Cross-IV机器人）的零点标定问题，提出了一种基于末端转角误差信息的快速零点标定方法．基于机器人的单支链闭环矢量方程，建立了零点误差全集与末端误差之间的映射模型．通过对误差传递矩阵的分解，在仅利用旋转编码器对末端转角误差进行测量的基础上，构建了该机器人的快速零点误差辨识模型．为进一步最大化测量效率及提高辨识矩阵的鲁棒性，提出了一种优化的测量点选择方案．通过仿真详细验证了该零点标定方法的鲁棒性与准确性．基于激光跟踪仪的验证实验表明，经标定后机器人末端位置误差降低至1.312 mm，转角误差降低至0.202°，标定结果表明该零点标定方法简单、有效．

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关键词 ：并联机器人, 零点标定, 末端转角误差, 测量点优选

Abstract：For the home position calibration of a 4-DOF parallel robot (Cross-IV robot), a fast calibration approach based on the rotary angle errors of end-effector is proposed. Based on the closed-loop vector equations of a single limb, a mapping model between the complete home position errors and the errors of end-effector is established. By the decomposition of the error transfer matrix, a fast home position errors identification model of the robot is constructed, which only needs to measure the rotary angle of end-effector errors by the rotary encoder. To further maximize the measuring efficiency and improve the robustness of the identification matrix, an optimized selection scheme of the measuring points is proposed. Detailed simulation verifies the robustness and correctness of the proposed method. The verification experiment based on a laser tracker shows that the position error of end-effector is decreased to 1.312 mm and the rotary angle error is decreased to 0.202° after calibration, so the home position calibration method is simple and effective.

Key words： parallel robot home position calibration rotary angle error of end-effector optimal measuring points

收稿日期: 2017-07-25 录用日期: 2017-10-28

TH115

基金资助:国家自然科学基金（51475320）；国家科技支撑计划（2015BAF11B00）

通讯作者: 梅江平,ppm@tju.edu.cn E-mail: ppm@tju.edu.cn

作者简介: 梅江平(1969-),男,博士,副教授.研究领域:机器人及其自动化技术.
贺媛(1991-),女,硕士生.研究领域:并联机器人标定技术.
臧家炜(1988-),男,博士生.研究领域:并联机器人标定技术,机器人及其自动化技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170450 或 https://robot.sia.cn/CN/Y2018/V40/I5/685

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