基于激光跟踪仪的协作机器人标定算法与实验研究

doi:10.3969/j.issn.1000-1158.2021.05.02

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摘要为了提高机器人末端绝对定位精度,提出了一种基于激光跟踪仪测量的机器人几何参数标定方法,对协作机器人的参数误差进行辨识和补偿。为了避免机械臂相邻两个轴平行时会出现奇异性的情况,采用了MDH参数法建立误差模型;为了把测量数据定义在同一坐标轴上,结合了机器人工具坐标系转换（靶球中心点相对于机器人末端坐标系的平移变换）;进而用最小二乘优化算法(LM)辨识出机器人的模型参数误差。通过对JAKA协作机器人的仿真、实验计算和标定,机器人的位置误差平均值、标准差、误差最大值分别降低了70.58%、56.76%、57.44%。实验结果表明:该标定算法可以有效地辨识出机器人的模型参数误差,对机器人的模型参数进行补偿后,提高了绝对定位精度。

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	陈相君
	古力那尔·祖农
	薛梓
	栗大超
	班朝
	任国营

关键词 ：计量学, 协作机器人, 激光跟踪仪, MDH模型, 绝对定位精度, 坐标系转换

Abstract：In order to improve the absolute positioning accuracy of the robot end,a method for calibrating the geometric parameters of the robot based on laser tracker measurement is proposed to identify and compensate the parameter errors of the cooperative robot.In order to avoid singularity when the two axes of the robot arm are parallel,MDH parameter method is used to establish the error model. In order to define the measurement data on the same coordinate axis,the robot tool coordinate transformation is combined (the translational transformation of the target ball′s center point relative to the robot′s terminal coordinate system),and the levenberg marquardt (LM) method is used to identify the model parameter error of the robot.Through the simulation,experimental calculation and calibration of JAKA cooperative robot,the average error,the standard deviation and the maximum error of the robot are reduced respectively by 70.58%,56.76% 57.44%.The results show that the calibration algorithm can effectively identify the model parameter errors of the robot,and compensate the model parameters of the robot to improve the absolute positioning accuracy.

Key words： metrology cooperative robots;laser tracker MDH model absolute positioning accuracy coordinate system transformation

收稿日期: 2020-05-13 发布日期: 2021-05-24

PACS:

TB92

基金资助:国家重点研发计划资助项目(2018YFF0212701,2018YFF0212702)

通讯作者: 任国营(1979-),河南开封人,中国计量科学研究院副研究员,博士,硕士研究生导师,主要从事长度计量及机器人测试方法研究。Email: rengy@nim.ac.cn E-mail: rengy@nim.ac.cn

作者简介: 陈相君(1996-),河南南阳人,天津大学硕士研究生,主要研究方向为机器人绝对定位的测量与补偿。Email: jun689074@163.com

引用本文:

陈相君,古力那尔·祖农,薛梓,栗大超,班朝,任国营. 基于激光跟踪仪的协作机器人标定算法与实验研究[J]. 计量学报, 2021, 42(5): 552-557.
CHEN Xiang-jun,ZUNONG Gulinaer,XUE Zi,LI Da-chao,BAN Zhao,REN Guo-ying. Calibration Algorithm and Experimental Research of Cooperative Robot Based on Laser Tracker. Acta Metrologica Sinica, 2021, 42(5): 552-557.

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http://jlxb.china-csm.org:81/Jwk_jlxb/CN/10.3969/j.issn.1000-1158.2021.05.02 或 http://jlxb.china-csm.org:81/Jwk_jlxb/CN/Y2021/V42/I5/552

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