SIA OpenIR  > 工艺装备与智能机器人研究室
Alternative TitleA Method of Cartesian Coordinate Robot Calibration with Planar Constraints
刘玉1,2; 隋春平1; 张洪瑶1,2
Source Publication机械设计与制造
Contribution Rank1
Funding Organization国家科技支撑计划资助项目(2015BAF08B01) ; 辽宁省自然科学基金资助项目(2015020168)
Keyword直角坐标机器人 运动学标定 DH参数法 平面约束 参数辨识
Other AbstractAiming at the requirement of accurate operation of a string class experimental device for counter current extraction, the method of its Cartesian coordinate robot kinematic calibration is studied. By using DH approach,the kinematics model is established,then the model of position error is deduced. According to the configuration characteristics of Cartesian coordinate robot,using spherical constraints,a calibration method with the known orientation plane constraints is proposed,and a model for this method is established based on the model of position error. The method of determining the base coordinate frame and plane orientation is given. The iterative generalized least square solution based on singular value decomposition is adopted. In order to verify this method,a simulation is designed in Matlab finally. The results of simulation show that the proposed method can improve the operation precision of the robot effectively.
Document Type期刊论文
Corresponding Author刘玉
Recommended Citation
GB/T 7714
刘玉,隋春平,张洪瑶. 一种应用平面约束的直角坐标机器人标定方法[J]. 机械设计与制造,2019(3):45-48.
APA 刘玉,隋春平,&张洪瑶.(2019).一种应用平面约束的直角坐标机器人标定方法.机械设计与制造(3),45-48.
MLA 刘玉,et al."一种应用平面约束的直角坐标机器人标定方法".机械设计与制造 .3(2019):45-48.
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