Robot calibration method based on improved differential evolution algorithm

Abstract

The invention discloses a robot calibration method based on an improved differential evolution algorithm, and the robot calibration method is used for six-freedom-degree industrial robot geometric parameter calibration and establishment of a robot kinematics model. The robot calibration method comprises the steps that a robot moves in the workspace, the joint corner of the robot at each road pointposition is read and recorded, and meanwhile, the actual position coordinate of a robot tail end actuator at each road point position is measured and recorded by utilizing a laser tracker; the theoretical position coordinate of the robot is calculated; the theoretical distance and the actual distance between the road points are calculated, and an objective function is established to determine structure parameters to be identified; the structure parameters are identified by utilizing the improved differential evolution algorithm; and identified structure parameter errors are substituted in forvalidation. By means of the robot calibration method based on the improved differential evolution algorithm, a simulated annealing algorithm and a population diversity evaluation function are integrated, the defect of poor global convergence of a traditional differential evolution algorithm is overcome, the accuracy and efficiency of robot structure parameter error identification are improved, and meanwhile, the characteristic of the fast convergence rate of the differential evolution algorithm is also absorbed.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a robot calibration method based on an improved differential evolution algorithm. Background technique [0002] Industrial robot is an important automation equipment in modern manufacturing industry, and it is one of the important fields to promote the rapid development of advantageous and strategic industries. However, the repetitive positioning accuracy of industrial robots is high, while the absolute positioning accuracy is low, which restricts the application of robots in high-precision occasions and limits the development of robots. The factors that affect the absolute positioning accuracy of the robot include parameter factors, load factors, environmental factors, etc. Among them, the deviation between the actual parameters and the theoretical parameters of the robot connecting rod produced in the process of parts processing and assembly is the most important factor leadin...

AI Technical Summary

Problems solved by technology

The above identification algorithms cannot simultaneously meet the identification accuracy, identification efficiency, and convergence required for robot parameter identification.

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