机器人标定技术研究

RESEARCH ON ROBOT CALIBRATION

  • 摘要: 机器人标定是离线编程技术实用化的关键技术之一,测量手段是制约其发展的一个重要因素.本文提出了一种简单实用的测量方法.同时建立了具有完备性、比例性、连续性的RH6-A型机器人的真实运动学模型.并根据测量结果,成功地辨识出了机器人的几何结构参数,提高了机器人的绝对精度.

     

    Abstract: Robot calibration is one of the key technologies of off-line programming, and measuring method is an important element which restrict its development.According to this point, this paper introduces a simple and useful method. Then it also sets up a complete, proportional, and consecutive kinematical model. At last, it identifies the geometrical parameters for the robot and improves the absolute accuracy for it.

     

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