针对工业机器人绝对定位精度较低问题,提出一种基于线结构光传感器的工业机器人运动学参数标定方法。首先,将线结构光传感器固定安装在机器人末端,建立传感器测量模型,然后建立机器人运动学模型,通过手眼关系将传感器模型与机器人模型连接组成完整的标定系统模型。其次,使线结构光传感器在不同位姿下对某一固定点进行测量,得到该点在机器人基座标下的坐标值。并建立该坐标值的理论值与实际值偏差的误差模型,从而建立标定方程组,利用最小二乘法辨识出运动学参数误差并修正参数。最后,通过将这些参数更新到理想运动学模型中,比较标定前后测量点之间的位置偏差。实验表明,平均误差和标准差分别减小了50%和42%以上。
Abstract
Aiming at the problem of low absolute positioning accuracy of industrial robots, a method for calibration of industrial robot kinematic parameters based on line structured light sensor was proposed. Firstly, the line structure light sensor is fixedly mounted on the end of the robot, the sensor measurement model is established, and then the robot kinematics model is established. The sensor model and the robot model are connected by hand-eye relationship to form a complete calibration system model. Secondly, the line structured light sensor measures a fixed point in different poses to obtain the coordinate value of the point on the robot base. An error model is established to deviate the theoretical value from the actual value of the coordinate value, thereby establishing a calibration equation group, and using the least squares method to identify the kinematic parameter error and correct the parameters. Finally, by updating these parameters into the ideal kinematics model, the positional deviation between measurement points before and after calibration were compared. The experimental results show that the average error was reduced by more than 50%, the standard deviation was reduced by more than 42%.
关键词
计量学 /
工业机器人 /
线结构光传感器 /
结构参数 /
机器人标定
Key words
metrology /
industrial robot /
line structured light sensor /
kinematic parameter /
robot calibration
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基金
浙江省科技计划项目重大科技专项(优先主题)(2018C01063)
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