| 工业机器人的绝对定位误差模型及其补偿算法 |
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| 引用本文： | 龚星如,沈建新,田威,廖文和,万世明,刘勇.工业机器人的绝对定位误差模型及其补偿算法[J].南京航空航天大学学报,2012,44(Z1):60-64. |
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| 作者姓名： | 龚星如 沈建新 田威 廖文和 万世明 刘勇 |
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| 作者单位： | 1. 南京航空航天大学机电学院,南京,210016
2. 成都飞机工业(集团)有限责任公司,成都,610092 |
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| 摘 要： | 工业机器人重复定位精度高而绝对定位精度低。为了提高工业机器人的绝对定位精度,提出一种绝对定位误差模型。基于该模型,利用激光跟踪仪和最小二乘法辨识出所需参数,并对误差进行补偿修正。最后,将这种方法应用在KUKA KR150-2机器人上进行测量和补偿。实验结果显示:平均绝对定位精度由补偿前的1.321mm变为补偿后的0.183mm,从而表明该方法的有效性。
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| 关 键 词： | 工业机器人 绝对定位精度 最小二乘法 激光跟踪仪 |
Absolute Positioning Error Model of Industrial Robot and Compensation Algorithm |
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| Gong Xingru
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Shen Jianxin
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Tian Wei
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Liao Wenhe
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Wan Shiming
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Liu Yong.Absolute Positioning Error Model of Industrial Robot and Compensation Algorithm[J].Journal of Nanjing University of Aeronautics & Astronautics,2012,44(Z1):60-64. |
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| Authors: | Gong Xingru Shen Jianxin Tian Wei Liao Wenhe Wan Shiming Liu Yong |
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| Institution: | 1.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics &Astronautics,Nanjing,210016,China;2.Chengdu Aircraft Industrial(Group) Co.Ltd.,Chengdu,610092,China) |
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| Abstract: | The repeated positioning accuracy of the industrial robot is high,but the absolute positioning accuracy is low.In order to improve the absolute positioning accuracy of the industrial robot,an absolute positioning error model is introduced.Based on the model,parameters are identified with laser tracker and least squares method,and the error is corrected.At last,an example is presented,and the method is applied to KUKA KR150-2 robot.The result shows that the average absolute positioning accuracy changes from 1.321 mm to 0.183 mm after calibration.So it indicates that the method is effective. |
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| Keywords: | industrial robot absolute positioning accuracy least squares method laser tracker |
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