Method for calibrating kinematics parameter of robot based on drawstring displacement sensors
A robot kinematics, displacement sensor technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large size, inconvenient movement, complicated operation, and expensive laser trackers.
Inactive Publication Date: 2018-01-09
SOUTHEAST UNIV
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[0057] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
[0058] This specific embodiment discloses a robot kinematics parameter calibration method based on a rope displacement sensor, including the following steps:
[0059] S1: Establish the MDH model of the robot according to the connecting rod length of the robot body, the zero position and the rotation direction of each joint, determine the theoretical values of the robot kinematics parameters, establish the differential error model of the robot according to the established robot kinematics model, and obtain the end position of the robot Constraint equations between deviations and deviations of robot kinematic parameters;
[0060] S2: Determine the base coordinate system of the robot using the position measurement system composed of the rope displacement sensor, and obtain the conversion relationship between the base coordinate system of the robot a...
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The invention discloses a method for calibrating a kinematics parameter of a robot based on drawstring displacement sensors. The method comprises the steps that a differential error model of the robotis built according to a built robot kinematics model, and a constraint equation between a robot tail end position deviation and a robot kinematics parameter deviation is obtained; a robot base coordinate system is determined, and a transform relationship between the robot base coordinate system and a position measuring system coordinate system is obtained; a position coordinate, under the position measuring system coordinate system, of the tail end of the robot is measured by utilizing a position measuring system composed of the drawstring displacement sensors, and the position coordinate istransformed into a position coordinate under the robot base coordinate system; the kinematics parameter deviation of the robot is recognized according to the deviation between a practical position anda theoretical position of the tail end of the robot by utilizing a least square method; and the practical value of the robot kinematics parameter is determined according to the robot kinematics parameter deviation and the theoretical value of the robot kinematics parameter. The method can effectively calibrate the kinematics parameter of the robot, and improve the absolute positioning accuracy ofan industrial robot.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot kinematics parameter calibration method based on a rope displacement sensor. Background technique [0002] Accuracy is an important indicator to measure the performance of industrial robots. The accuracy indicators of industrial robots include repeat positioning accuracy and absolute positioning accuracy. The repetitive positioning accuracy of industrial robots is generally high (0.1mm or better), and the absolute positioning accuracy is generally low (10mm or worse). With the rapid development of robot technology, industrial robots have also been widely used in industrial sites in many fields. The application of technologies such as laser cutting, visual servo and offline programming requires industrial robots to have high absolute positioning accuracy. Robot geometric parameter errors affect more than 80% of the robot's positioning accuracy. Robot kinematic ...
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Inventor 甘亚辉郭哲戴先中
Owner SOUTHEAST UNIV