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Alternative TitleGeometrical Calibration and Error Compensation of D-H Parameters and Joint Reduction Ratios of Manipulator
刘辉; 李斌; 张国伟; 梁志达; 常健
Source Publication计算机测量与控制
Volume24Issue:1Pages:269-272, 276
Contribution Rank1
Funding Organization国家科技支撑计划(2014BAK12B01)
Keyword机械臂 运动学参数 减速比 标定 误差补偿
Other AbstractTo solve the problem that the inaccuracy of D-H model parameters and joint motor reduction ratios would reduce the absolute positioning accuracy of manipulator, proposed a solution based on the calibration of D-H model parameters with geometric analysis, and through analyzing the relationship between the actual joint rotation angle and the output value of the joint motor encoder, to calibrate the Joint motor reduction ratios. Counter the disadvantages of traditional joint angle error differential compensation method, by analyzing the differential relationship between pose matrix error of the end of manipulator and joint angle error to get joint compensation angle, the jacoby matrix calculation is avoided, and the calculation efficiency is improved. Finally, built a measurement system with 3Dlaser tracker, and accomplished the calibration and compensation experiment of a manipulator with 6degrees of freedom. Result of the experiment shows that through parameter calibration and compensation, the average value of the absolute positioning error of the manipulator are reduced to 0.54mm and 0.24°from the original 2.83mm and 1.14°,which verifies the validity of the method.
Document Type期刊论文
Corresponding Author刘辉
Recommended Citation
GB/T 7714
刘辉,李斌,张国伟,等. 机械臂D-H参数和减速比几何标定及误差补偿[J]. 计算机测量与控制,2016,24(1):269-272, 276.
APA 刘辉,李斌,张国伟,梁志达,&常健.(2016).机械臂D-H参数和减速比几何标定及误差补偿.计算机测量与控制,24(1),269-272, 276.
MLA 刘辉,et al."机械臂D-H参数和减速比几何标定及误差补偿".计算机测量与控制 24.1(2016):269-272, 276.
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