6自由度串联机器人D-H模型参数辨识及标定

doi:10.13973/j.cnki.robot.2016.0360

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张旭, 郑泽龙, 齐勇. 6自由度串联机器人D-H模型参数辨识及标定[J]. 机器人, 2016, 38(3): 360-370.DOI: 10.13973/j.cnki.robot.2016.0360. ZHANG Xu, ZHENG Zelong, QI Yong. Parameter Identification and Calibration of D-H Model for 6-DOF Serial Robots. ROBOT, 2016, 38(3): 360-370. DOI: 10.13973/j.cnki.robot.2016.0360.

摘要为了提高串联机器人的末端绝对精度，本文首先采用轴线测量法识别机器人 D-H 参数模型，继而将 D-H 参数转化为最小完整连续运动学（CMMK）模型参数，并进行非线性优化，以解决 D-H 参数模型奇异和冗余带来的非线性优化不易收敛问题，最后，将优化后的 CMMK 模型参数转化为工业标准的 D-H 模型参数，再经过补偿后将其作为设计模型以获得更高精度的定位．通过在 MOTOMAN-MH80 机器人上进行试验，该方法能确实有效地识别机器人的杆件参数，未标定前机器人的位置误差只能达到 2 mm 左右，而标定后降至 0.7 mm 左右，精度提高了将近 70%．本文方法通过轴线测量获取机器人模型参数初值，避免了对机器人进行理论建模的过程，与运动学回路法相比，具有较高的通用性；采用最小完整连续运动学模型进行标定，能有效解决 D-H 模型奇异性、非连续、不易收敛到正确值的问题．

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	张旭
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关键词 ：串联机器人, 绝对精度, 轴线测量法, 最小完整连续运动学模型

Abstract：This paper intends to improve the absolute accuracy of the end-effector of serial robot. Firstly, the axis measurement method is used to identify the D-H (Denavit-Hartenberg) model parameters, and the D-H model parameters are transformed into the complete, minimal and model-continuous kinematic (CMMK) model parameters. Then, the parameters are optimized by the nonlinear method to solve the non-convergence problem of nonlinear optimization, which is caused by the singularity and redundancy of the D-H parameter model. Finally, the optimized CMMKmodel parameters are transformed into the industrial D-H model parameters, according to which the theoretical D-H parameter model is modified to accomplish high-accuracy calibration and position control. In experiments on MOTOMAN-MH80 robot, the robotic link parameters are effectively identified with the proposed method, and the positioning error decreases from 2 mm to 0.7 mm after calibration, ithe positioning accuracy is improved by about 70%. The proposed method can be used in more cases comparing with the kinematic loop method, because it obtains initial values of robot model parameters by axis measurement method and avoids the theoretical modeling process. Plus, problems of singularity, discontinuity and non-convergence of D-H model are solved effectively through the CMMK model based calibration.

Key words： serial robot absolute accuracy axis measurement method CMMK (complete, minimal and model-continuous kinematic) model

收稿日期: 2015-12-23 录用日期: 2016-03-28

TP241.2

基金资助:国家自然科学基金（51575332）；机械系统与振动国家重点实验室课题（MSV2015010）；上海市教育委员会科研创新项目（2014Z10280034）

通讯作者: 张旭，xuzhang@shu.edu.cn E-mail: xuzhang@shu.edu.cn

作者简介: 张旭（1982-），男，博士，副教授．研究领域：深度信息获取和计算机视觉．
郑泽龙（1989-），男，硕士生．研究领域：串联工业机器人，机器视觉．
齐勇（1993-），男，硕士生．研究领域：串联工业机器人，机器视觉．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0360 或 https://robot.sia.cn/CN/Y2016/V38/I3/360

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