Kinematics parameter error calibration method of rope-driven parallel robot

Abstract

The invention discloses a kinematics parameter error calibration method of a rope-driven parallel robot. The kinematics parameter error calibration method comprises the steps of 1, establishing a kinematics model and a kinematics parameter error model of the rope-driven parallel robot; 2, identifying the parameter errors through an optimization algorithm; 3, optimizing the position relation of a reference coordinate system of a calibration posture measurement device relative to a reference coordinate system of the rope-driven parallel robot; and 4, jointly calibrating the kinematics parametererrors by combination with an iterative optimization method. The kinematics parameter error calibration method can accurately calibrate the kinematics parameter errors of the rope-driven parallel robot, so that the kinematics precision of the rope-driven parallel robot is improved.

Description

technical field [0001] The invention relates to the field of robot kinematics parameter calibration, in particular to a method for calibrating errors of kinematics parameters of a cable-driven parallel robot based on pose measurement. Background technique [0002] The mechanical structure of the robot will inevitably produce some structural parameter errors in the process of processing and assembly, and these structural parameter errors will lead to errors in the calculation results of the kinematic model of the robot. Therefore, in the robot production process, it is necessary to calibrate the kinematic parameter error of the robot. [0003] Commonly used calibration tools include position and attitude measuring devices such as cameras and laser interferometers, which can measure the position and attitude of the moving platform at the end of the robot actuator. The measuring device uses its own coordinate system as the reference coordinate system to measure the pose of the...

AI Technical Summary

Problems solved by technology

However, due to the error between the reference measurement position of the measuring device and the robot structure, there is an error between the measured relative position relationship and the actual position relationship, which reduces the error accuracy of the final calibrated robot kinematics parameters.

Many robots need to be calibrated in the industrial production process. The traditional method requires manual calibration of the positional relationship of the measuring device, resulting in slow calibration speed, cumbersome calibration process, and low production efficiency.

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