作　　者： ; ;

机构地区： 华南理工大学机械与汽车工程学院

出　　处： 《华南理工大学学报（自然科学版）》 2011年第11期98-103,共6页

摘　　要： 基于机器人的DH运动学模型,建立了机器人各坐标系间的齐次变换误差模型.为避免因轴线的微小偏差引起连杆距离的较大变动,利用修正的DH运动学模型,建立了平行关节的齐次变换误差模型;用空间两点间的距离误差衡量机器人的绝对定位精度,并结合所建立的齐次变换误差模型,推导了基于距离误差的运动学标定模型,距离误差的引入避免了坐标系的转化,简化了测量过程;最后,使用三坐标测量仪对课题组研制的6自由度工业机器人末端点位置进行了测量.经过关节参数的求解、补偿及校正,距离误差绝对值的均值相对于校正前减少了50%以上,机器人的定位精度得到明显改善. In this paper,first,an error model of a robot is established via coordinates＇ homogeneous transformation and on the basis of the DH kinematic model.Next,in order to avoid the great change of the link distance due to small deviation of axes,another error model of parallel joints is set up via the homogeneous transformation and on the basis of the modified DH kinematic model.Then,the distance error of every two points in space is used to evaluate the absolute positioning accuracy of robot.Moreover,by the two above-mentioned models,a kinematic calibration model based on distance error,which avoids the complex coordinate transformation and simplifies the mea-surement process,is presented.Finally,the position of an end point of the self-developed 6-DOF industrial robot is measured by a three-coordinate measuring machine.The results indicate that,after the solving,compensation and correction of joint parameters,the average absolute distance error of the end point reduces by more than 50% and the positioning accuracy of the robot obviously improves.

关 键 词： 工业机器人 距离误差 运动学参数 标定 精度

领　　域： [自动化与计算机技术] [自动化与计算机技术]