空间网格化的机器人变参数精度补偿技术

doi:10.13973/j.cnki.robot.2015.0327

摘要
图/表
参考文献
相关文章 (3)

全文: PDF (616 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
洪鹏, 田威, 梅东棋, 曾远帆. 空间网格化的机器人变参数精度补偿技术[J]. 机器人, 2015, 37(3): 327-335.DOI: 10.13973/j.cnki.robot.2015.0327. HONG Peng, TIAN Wei, MEI Dongqi, ZENG Yuanfan. Robotic Variable Parameter Accuracy Compensation Using Space Grid. ROBOT, 2015, 37(3): 327-335. DOI: 10.13973/j.cnki.robot.2015.0327.

摘要

现有的机器人参数辨识的方法所能提高的绝对定位精度有限，是由于关节和连杆柔度等非几何因素造成误差在空间中分布不均匀.为此，本文提出了一种变参数误差模型.由于各轴之间耦合，为了便于求解，提出采用空间网格来处理该变参数误差模型，同时提出了一套规则的参数辨识采样点选取方法.利用改进型的Levenberg-Marquardt 迭代最小二乘法求出各网格对应的参数误差的全局收敛解.最后，利用激光跟踪仪在KUKA工业机器人上进行运动学标定验证补偿效果.验证结果表明：能将机器人的绝对定位精度平均值从0.901mm 提高到0.115mm.

	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
	洪鹏
	田威
	梅东棋
	曾远帆

关键词 ：绝对定位精度, 变参数, 空间网格, 改进型Levenberg-Marquardt 迭代最小二乘法

Abstract：

Absolute positioning accuracy can only be limitedly improved by the existing robot parameter identification, because the errors are not evenly distributed in the robot working space on account of the compliance of links and joints and other non-geometric factors. In view of these, a variable parameter error model is presented. Due to the coupling between the axis, space grid is presented to deal with the variable parameter error model in order to simplify the solution. Moreover, a kind of regular sampling point selection method is proposed. Futhurmore, the modified Levenberg-Marquardt iterative least-square is applied to the global convergence solution of the parameter error of each space grid. Finally, a kinematic parameter calibration experiment on the KUKA industrial robot is completed with the help of a laser track to demonstrate the effectiveness of the compensation. The result shows that the average absolute positioning accuracy of the robot can be improved from 0.901mm to 0.115 mm.

Key words： absolute positioning accuracy variable parameter space grid modified Levenberg-Marquardt iterative least square

收稿日期: 2014-11-25 录用日期: 2015-03-24

TP242

基金资助:

国家自然科学基金资助项目(51475225);江苏省科技支撑计划资助项目(BE2011178);航空科学基金资助项目(2013ZE52067)

通讯作者: 田威,tw_nj@nuaa.edu.com E-mail: tw_nj@nuaa.edu.com

作者简介: 洪鹏(1991--),男,硕士生.研究领域:机器人柔性装配技术.
田威(1977--),男,博士,副教授,硕士生导师.研究领域:数字化柔性装配技术和绿色再制造技术.
梅东棋(1990--),男,硕士生.研究领域:机器人柔性装配技术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0327 或 https://robot.sia.cn/CN/Y2015/V37/I3/327

[1] Kihlman H, Ossbahr G, Engström M, et al. Low-cost automation for aircraft assembly[C]//Proceedings of the Aerospace Manufacturing and Automated Fastening Conference. 2004: doi:10.4271/2004-01-2830.

[2] 曲巍崴,董辉跃,柯映林.机器人辅助飞机装配制孔中位姿精度补偿技术 [J].航空学报,2011,32(10): 1951-1960.Qu W W, Dong H Y, Ke Y L. Pose accuracy compensation technology in robot-aided aircraft assembly drilling process[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(10): 1951-1960.

[3] Denavit S, Hartenberg R S. A kinematic notation for lower-pair mechanisms based on matrices[J]. ASME Journal of Applied Mechanica, 1955, 22(2): 215-221.

[4] Hayati S A. Robot arm geometric link parameter estima-tion[C]//22nd IEEE Conference on Decision and Control. Piscataway, USA: IEEE, 1983: 1477-1483.

[5] 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.

[6] 高文斌,王洪光,姜勇,等.基于距离误差的机器人运动学参数标定方法 [J].机器人,2013,35(5): 600-606.Gao W B, Wang H G, Jiang Y, et al. Kinematic calibration method of robots based on distance error[J]. Robot, 2013, 35(5): 600-606.

[7] 焦国太,Egorov O D,余跃庆.工业机器人位姿误差的计算 [J].机械科学与技术,2002,21(1): 35-39.Jiao G T, Egorov O D, Yu Y Q. A method for calculating position and orientation errors of industrial robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2002, 21(1): 35-39.

[8] Chen X Z, Zhu Z Y, Chen W J, et al. Vision-based recognition and guiding of initial welding position for arc-welding robot[J]. Chinese Journal of Mechanical Engineering, 2005, 18(3): 382-384.

[9] 王东署,迟健男.机器人运动学标定综述 [J].计算机应用研究,2007,24(9): 8-11,39.Wang D S, Chi J N. Survey on robot kinematics calibration[J]. Application Research of Computers, 2007, 24(9): 8-11,39.

[10] 王一,刘常杰,任永杰,等.工业坐标测量机器人定位误差补偿技术 [J].机械工程学报,2011,47(15): 31-36.Wang Y, Liu C J, Ren Y J, et al. Compensation for positioning error of industrial coordinate measurement robot[J]. Journal of Mechanical Engineering, 2011, 47(15): 31-36.

[11] Nubiola A, Bonev I A. Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J]. Robotics and Computer-Integrated Manufacturing, 2013, 29(1): 236-245.

[12] 周炜,廖文和,田威.基于空间插值的工业机器人精度补偿方法理论与试验 [J].机械工程学报,2013,49(3): 42-48.Zhou W, Liao W H, Tian W. Theory and experiment of industrial robot accuracy compensation method based on spatial interpolation[J]. Journal of Mechanical Engineering, 2013, 49(3): 42-48.

[13] Ginani L S, Motta J M S T. Theoretical and practical aspects of robot calibration with experimental verification[J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2011, 33(1): 15-21.

[14] 杨柳,陈艳萍. 求解非线性方程组的一种新的全局收敛的 Levenberg-Marquardt 算法[J]. 计算数学,2008,30(4): 388-396. Yang L, Chen Y P, A new globally convergent Levenberg-Marquardt method for solving nonlinear system of equations[J]. Mathematica Numerica Sinica, 2008, 30(4): 388-396.