陈钢, 贾庆轩, 李彤, 孙汉旭 . 基于误差模型的机器人运动学参数标定方法与实验[J]. 机器人, 2012, 34(6): 680-688.DOI: 10.3724/SP.J.1218.2012.00680.
CHEN Gang, JIA Qingxuan, LI Tong, SUN Hanxu. Calibration Method and Experiments of Robot Kinematics Parameters Based on Error Model. ROBOT, 2012, 34(6): 680-688. DOI: 10.3724/SP.J.1218.2012.00680.
摘要
提出一种基于误差模型的机器人运动学位置参数和角度参数分离标定方法.利用MCPC(modified complete and parametrically continuous)方法建立机器人运动学方程,推导相对于惯性坐标系的机器人运动学误差模型,提出将位置参数与角度参数分离的运动学参数标定方法.为了解决标定过程中关节角度误差问题,设计一套基于关节角度校正的机器人运动学参数标定实验方法.实验结果验证了所提出方法的有效性.
A method of robot kinematics parameters calibration based on error model is proposed, which separates positional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC (modified complete and parametrically continuous) method, while kinematics error model relative to inertial coordinate system is derived. On the basis, the separated kinematics parameters calibration method is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is verified by experiment results.
[1] Bai Y, Wang D L. Improve the robot calibration accuracy using a dynamic online fuzzy error mapping system[J]. IEEE Transactions on Systems, Man and Cybernetics, 2004, 34(2): 1155- 1160. [2] Roth Z S, Mooring B, Ravani B. An overview of robot calibration[J]. IEEE Journal of Robotics and Automation, 1987, 3(5): 377-385. [3] Veitschegger W K, Wu C H. Robot calibration and compensation[J]. IEEE Journal of Robotics and Automation, 1988, 4(6): 643-656. [4] Hayati S A. Robot arm geometric link parameter estimation[C]//22nd IEEE Conference on Decision and Control. Piscataway, NJ, USA: IEEE, 1983: 1477-1483.[5] Stone H W. Kinematic modeling, identification and control of robotic manipulators[M]. New York, NY, USA: Kluwer Academic Publisher, 1987.[6] Zhuang H, Roth Z S, Hamano F. A complete and parametrically continuous kinematic model for robot manipulators[J]. IEEE Transactions on Robotics and Automation, 1992, 8(4): 451-463. [7] Zhuang H Q, Wang L K, Roth Z S. Error-model-based robot calibration using a modified CPC model[J]. Robotics and Computer-Integrated Manufacturing, 1993, 10(4): 287-299. [8] Chen I M, Yang G L. Kinematic calibration of modular reconfigurable robots using product-of-exponentials formula[J]. Journal of Robotic Systems, 1997, 14(11): 807-821. [9] He R B, Zhao Y J, Yang S N, et al. Kinematic-parameter identification for serial-robot calibration based on POE formula[J]. IEEE Transactions on Robotics, 2010, 26(3): 411-423. [10] 何锐波,赵英俊,韩奉林,等.基于指数积公式的串联机构运动学参数辨识实验[J].机器人,2011,33(1):35-45.He R B, Zhao Y J, Han F L, et al. Experimentation on identifying the kinematic parameters of serial mechanism based on the product-of-exponential formular[J]. Robot, 2011, 33(1): 35-45.[11] Schroer K, Albright S L, Grethlein M. Complete, minimal and model-continuous kinematic models for robot calibration[J]. Robotics and Computer-Integrated Manufacturing, 1997, 13(1): 73-85. [12] Wu C H. A kinematic CAD tool for the design and control of a robot manipulator[J]. International Journal of Robotics Research, 1984, 3(1): 58-67. [13] 王品,廖启征,庄育锋,等.一般7R串联机器人标定的仿真与实验[J].机器人,2006,28(5): 483-487.Wang P, Liao Q Z, Zhuang Y F, et al. Simulation and experimentation for calibration of general 7R serial robots[J]. Robot, 2006, 28(5): 483-487.