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一种基于指数积的串联机器人标定方法
Alternative TitleA Calibration Method for Serial Robots Based on POE Formula
高文斌; 王洪光; 姜勇
Department空间自动化技术研究室
Source Publication机器人
ISSN1002-0446
2013
Volume35Issue:2Pages:156-161
Indexed ByEI ; CSCD
EI Accession number20131616213988
CSCD IDCSCD:4788722
Contribution Rank1
Funding Organization国家863计划资助项目(2007AA041703); 国家自然科学基金资助项目(60905048); 机器人学国家重点实验室自主课题(RLZ200802)
Keyword串联机器人 指数积 参数标定
Abstract给出了一种基于指数积公式的串联机器人运动学参数标定方法.根据关节旋量坐标的理论值和实际值之间的伴随变换关系将指数积公式改写成包含有关节约束条件的等价形式.对运动学方程取微分得到末端执行器误差与关节旋量误差及零位旋量误差间的线性化模型.给出一种基于最小二乘法的串联机器人运动学参数标定模型,并通过伴随变换的方法实现运动学参数识别过程中关节旋量坐标的更新.一种6自由度串联机器人的标定仿真实验表明参数标定过程能够快速地收敛到稳定值,标定结果能有效地补偿末端执行器的位姿误差.
Other AbstractA kinematics parameter calibration method for serial robots based on the product of exponential (POE) formula is presented. According to the adjoint transformation between the theoretical value and actual value of joint twists, the POE formula is transformed into an equivalent form including the joint constraints. A linearized model describing the relationship between the errors in the end-effector and the errors in the joint twists and in the zero position twist, is obtained by differentiating the kinematics equation. A least-squares kinematics calibration model for serial robots is given and the joint twists are updated through the adjoint transformation in the kinematic parameters identification procedure. A calibration simulation experiment with a 6-DOF (degree of freedom) serial robot shows that the calibration process can quickly converge to the stable values and the calibration result can compensate for the pose errors in the end-effector effectively.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10542
Collection空间自动化技术研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
高文斌,王洪光,姜勇. 一种基于指数积的串联机器人标定方法[J]. 机器人,2013,35(2):156-161.
APA 高文斌,王洪光,&姜勇.(2013).一种基于指数积的串联机器人标定方法.机器人,35(2),156-161.
MLA 高文斌,et al."一种基于指数积的串联机器人标定方法".机器人 35.2(2013):156-161.
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