一般7R串联机器人标定的仿真与实验

王品, 廖启征, 庄育锋, 魏世民

王品, 廖启征, 庄育锋, 魏世民. 一般7R串联机器人标定的仿真与实验[J]. 机器人, 2006, 28(5): 483-487,494.
引用本文: 王品, 廖启征, 庄育锋, 魏世民. 一般7R串联机器人标定的仿真与实验[J]. 机器人, 2006, 28(5): 483-487,494.
WANG Pin, LIAO Qi-zheng, ZHUANG Yu-feng, WEI Shi-min. Simulation and Experimentation for Calibration of General 7R Serial Robots[J]. ROBOT, 2006, 28(5): 483-487,494.
Citation: WANG Pin, LIAO Qi-zheng, ZHUANG Yu-feng, WEI Shi-min. Simulation and Experimentation for Calibration of General 7R Serial Robots[J]. ROBOT, 2006, 28(5): 483-487,494.

一般7R串联机器人标定的仿真与实验

详细信息
    作者简介:

    王品(1976- ),男,博士生.研究领域:智能机器人中信号与信息处理.
    廖启征(1947- ),男,教授,博士生导师.研究领域:机构学与机器人学.
    庄育锋(1972- ),男,博士生,讲师.研究领域:机构学与机器人学.

  • 中图分类号: TP24

Simulation and Experimentation for Calibration of General 7R Serial Robots

  • 摘要: 为了标定一般7R冗余度串联机器人的所有几何参数,提出了一种实效的算法.首先,使用D-H矩阵对机器人建立了运动学模型和几何参数识别模型,对雅可比矩阵进行奇异值分解并对分解后的正交阵的最后5行进行初等行变换,以确定需要补偿的几何参数.通过机器人关节角和末端手爪位置的测量数据,计算雅可比矩阵以及手爪位置理论值和实测值的误差,采用最小二乘法对机器人的尺寸参数进行补偿量的计算.仿真过程表明,在有测量扰动的情况下,算法是稳定的和可靠的.最后,对机器人进行了实际的测量和标定,取得了满意的结果.
    Abstract: A practical algorithm is presented to calibrate all the geometric parameters of general 7R redundant serial robots.First of all,D-H matrix is used to construct a kinematics model and a geometric parameter identification model for the robot,singular value decomposition(SVD) for Jacobian matrix is given,and elementary row operations are applied to the last 5 rows of the matrix to find the geometric parameters to be compensated.According to the measured values of the joint angles and the end-effector positions,Jacobian matrix is calculated,and errors between the desired and the measured positions of the end-effector are exported to the least square method to determine the compensation for the dimensional parameters of the robot.The simulation shows that the algorithm is stable and reliable in the presence of small measurement disturbance.At last,an experiment of measurement and calibration is made on the robot,and the results obtained are effective and satisfactory.
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出版历程
  • 收稿日期:  2005-11-06

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