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一种应用平面约束的直角坐标机器人标定方法
Alternative TitleA Method of Cartesian Coordinate Robot Calibration with Planar Constraints
刘玉1,2; 隋春平1; 张洪瑶1,2
Department工艺装备与智能机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2019
Issue3Pages:45-48
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
Abstract针对某逆流萃取串级实验装置的精准操作作业需求,对其中的直角坐标机器人的运动学标定方法展开了研究。采用DH参数法建立了运动学模型,并推导了位置误差模型;根据直角坐标机器人的构型特点,结合球面约束,提出了应用已知姿态平面约束的标定方法,并基于位置误差模型建立了该方法的求解模型;给出了基坐标系和平面姿态的确定方法;采用基于奇异值分解的广义最小二乘法迭代求解;最后借助Matlab对该方法进行了仿真验证。仿真结果表明了所提出的标定方法有效地提高了机器人的操作精度。
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.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24397
Collection工艺装备与智能机器人研究室
Corresponding Author刘玉
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
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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