引用本文: 王东署, 李光彦, 徐方, 徐心和. 机器人标定算法及在打磨机器人中的应用[J]. 机器人, 2005, 27(6): 491-496,501.
WANG Dong-shu, LI Guang-yan, XU Fang, XU Xin-he. Robot Calibration Algorithms and Their Application to Polishing Robot[J]. ROBOT, 2005, 27(6): 491-496,501.
 Citation: WANG Dong-shu, LI Guang-yan, XU Fang, XU Xin-he. Robot Calibration Algorithms and Their Application to Polishing Robot[J]. ROBOT, 2005, 27(6): 491-496,501.

## Robot Calibration Algorithms and Their Application to Polishing Robot

• 摘要: 首先介绍了机器人位姿匹配的基本原理，以及两种通用的机器人几何参数标定的优化算法：非线性优化方法和递归线性方程法，并分别利用这两种优化算法对打磨机器人的几何参数进行了标定．在此基础上，通过分析影响打磨机器人位置误差的因素，从参数集中剔除对位置误差影响不敏感和无法区分其影响效果的因素，再采用前述优化算法对机器人几何参数进行标定．仿真结果表明此标定效果和前者相比无显著差异，在一定情况下甚至优于前者．因此在标定过程中，可以采用把冗余参数去除来对机器人进行精确标定．

Abstract: This paper introduces the basic principle of robot pose matching and two optimization algorithms,i.e.nonlinear optimization procedure and iterative linearization of the equations,and uses the two optimization algorithms respectively to calibrate the geometrical parameters of a polishing robot.Based on analyzing the factors affecting the robot position error,the algorithms eliminate the parameters which are non-sensitive to position accuracy and whose effects are indistinguishable to others,and repeat the calibration process.The simulation results show that calibration effect is not quite different from the algorithms obtained with the complete parameter set.In some cases,the latter is even better than the former.So it is feasible to calibrate the robot by substituting the complete parameter set with reduced set,with an improved accuracy.

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