基于拉线位移传感器的机器人标定应用研究

通过对拉线位移传感器在机器人标定领域国内外应用现状的研究,简略介绍了单线式一维和三线式三维测量系统,并提出一种单线复用三维测量系统模型。结合各测量系统的特点,提出相应的参数辨识算法。为了选取合适的标定校准点,以码垛机器人为例,分析了机器人工作空间中不同位置扰动误差对拉线测量值的影响。对机器人名义D-H参数和拉线测量值等制造模拟误差进行仿真标定。仿真结果表明,标定后定位精度提升90%,最后通过运动学标定试验进一步验证了标定方法的有效性,并指出仍需解决的若干问题。

Application Research of Robot Calibration Based on Draw-Wire Displacement Sensors

The single-line 1D and 3-line 3D measurement systems are introduced briefly,and a single-line 3D measurement system is proposed by studying the current situation and application of the draw-wire displacement sensor in the field of robot calibration.The parameter identification algorithms corresponding to each of the measurement systems are proposed as well.In order to select appropriate calibration points,an example of a robot palletizer is given to analyze the effect of the error of robot work position on the value of cable measurement.A simulation is carried out to calibrate manufacturing error on nominal D-H parameters and measurement parameters,whose results show that the accuracy after the calibration is improved by 90％.Finally,the validity of the calibration methods is further verified by the kinematic calibration experiment,and some problems still needed to be solved are pointed out.