机器人几何参数标定误差模型对定位精度影响研究

doi:10.3969/j.issn.1000-1158.2024.08.04

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摘要机器人几何参数误差是影响机器人定位精度的主要因素,通过对几何参数标定能够有效提高机器人定位精度。为了解决机器人在标定过程中的奇异性问题,采用改进的Denavit-Hartenberg(MDH)方法建立机器人几何参数模型,根据微分误差原理分别建立了机器人几何参数标定位姿误差和位置误差及姿态误差模型,并通过对几何参数冗余性分析及采用Levenberg-Marquardt(LM)算法辨识几何参数误差,研究不同误差模型对机器人定位精度影响。实验结果表明:采用位姿误差模型对机器人几何参数标定后其末端位置和姿态精度均能提升约75%,适于在有高精度定位要求的机器人中推广应用。

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	王东霞
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	钱夔

关键词 ：几何量计量, 定位精度, 机器人, MDH模型, 冗余参数, 误差模型

Abstract：The geometric parameter error of robots is the main factor affecting the positioning accuracy of robots, and the positioning accuracy of robots can be effectively improved by calibrating the geometric parameters.In order to solve the singularity problem of robots in the calibration process, improved Denavit-Hartenberg (MDH) method is adopted to establish the geometric parameter model of robots.Based on the principle of differential error, the full position error, position error, and attitude error models of robot geometric parameter calibration are established.The redundancy of geometric parameters and identifying geometric parameter errors are analyzed by using Levenberg-Marquardt(LM) algorithm and the influence of different error models on robot positioning accuracy are studied.The experimental results show that the accuracy of both position and attitude can be improved by about 75% after the geometric parameters are be calibrated based on the full position error model.And it is suitable for promotion and application in robots with high-precision positioning requirements.

Key words： geometric measurement positioning accuracy robot MDH model redundancy parameters error model

收稿日期: 2023-12-25 发布日期: 2024-09-05

PACS:

TB92

基金资助:国家自然科学基金(51675259);江苏省研究生科研与实践创新计划(SJCX22_1071);江苏省产学研合作项目(BY 20230901)

通讯作者: 温秀兰(1966-),内蒙古丰镇人,南京工程学院教授,主要从事精密测量、机器人控制标定技术、机器视觉等方面研究。Email:wenxiulan3322@126.com E-mail: wenxiulan3322@126.com

作者简介: 王东霞(1973-),河南南阳人,南京工程学院副教授,主要从事机器人控制标定技术、智能计算等方面研究。Email:441470952@qq.com

引用本文:

王东霞,唐颖,李国成,温秀兰,钱夔. 机器人几何参数标定误差模型对定位精度影响研究[J]. 计量学报, 2024, 45(8): 1108-1114.
WANG Dongxia,TANG Ying,LI Guocheng,WEN Xiulan,QIAN Kui. Research on the Influence of Robot Geometric Parameter Calibration Error Model on Positioning Accuracy. Acta Metrologica Sinica, 2024, 45(8): 1108-1114.

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