摘要
为了提高六自由度工业机器人绝对定位精度,对工业机器人进行了运动学建模,并建立了基于MD-H参数误差的机器人末端定位误差辨识模型,应用激光跟踪仪测量系统采集样本点数据,应用基于奇异值分解的最小二乘法求解辨识模型,以获得几何参数误差,并根据辨识出的误差对机器人末端定位精度进行补偿,实验结果表明,经过辨识和补偿后,工业机器人绝对定位精度得到明显提高,可为后续复杂作业的离线编程与作业规划打下基础。
In order to improve the absolute positioning accuracy of 6-DOF industrial robot,the kinematic modeling of industrial robot was carried out.The end positioning error identification model based on MD-H parameter was established.The laser tracker system was applied to measure sample points data.Identification model was solved by the ordinary least squares method based on singular value decomposition.The geometric parameter errors were identified and the robot end positioning accuracy was compensated according to the identified errors.The experimental results show that after identification and compensation,the absolute positioning accuracy of industrial robot is significantly improved,which can be used for offline programming and planning of complex processing operations.
作者
唐越
郑金辉
王庆杰
TANG Yue;ZHENG Jinhui;WANG Qingjie(School of Mechatronic Engineering,Chengdu Aeronautic Polytechnic,Chengdu 610100,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610100,China)
出处
《现代制造工程》
CSCD
北大核心
2021年第2期21-26,共6页
Modern Manufacturing Engineering
基金
四川省教育厅自然科学重点项目(18ZA0031)。
关键词
工业机器人
定位误差
参数辨识
最小二乘法
industrial robot
positioning error
parameter identification
ordinary least squares method
