工业机器人D-H运动学参数分步辨识方法

针对工业机器人运动学参数辨识过程中的角度误差易淹没在数量级较大的位置误差中的问题，提出一种快速有效的分步辨识方法。首先构建机器人Denavit-Hartenberg（D-H）运动学模型，其次给出参数辨识两步误差模型，最后进行机器人运动学参数辨识试验。借助激光跟踪仪进行外部测量，通过3种试验方案对比，验证了基于两步误差模型的机器人运动学参数辨识方法的正确性和有效性，且辨识精度具有一定优势。将辨识参数代替机器人原有运动学参数，进行碳纤维薄板钻孔加工，加工孔的位置度由3 mm提高到1 mm以内。

Step by Step Identification of D-H Kinematics Parameter for Industry Robot

Aiming at the problem that the angle error is easy to be submerged in position error with large magnitude in the kinematics parameter identification process for industrial robot, a fast and effective step-by-step identification method is proposed. Firstly, the robot Denavit-Hartenberg(D-H) model is constructed. Secondly, the two-step error model is given for the parameter identification. Finally, the experiments of kinematics parameter identification are carried out. Three experiments through external measurements by laser tracker are compared. The experimental results verify the correctness and validity of the kinematics parameter identification method for industrial robot based on two-step error model, and the identification accuracy has some advantages. Then, the original parameters of the robot are replaced by the identified parameters, and the carbon fiber sheet drilling is performed. The position degree of the processing hole is increased from 3 mm to less than 1mm.