Mechanical arm kinematics parameter calibration method based on measuring of laser tracker

Abstract

The invention discloses a mechanical arm kinematics parameter calibration method based on measuring of a laser tracker, and belongs to the field of industrial mechanical arm kinematics, and relates to the mechanical arm kinematics parameter calibration method based on measuring of the laser tracker. The method is based on the mechanical arm joint construction. An improved DH parameter method is adopted for building a mechanical arm kinematics model, a kinematics modeling result is used for building a mechanical arm kinematics parameter error calibration model, in consideration with the mechanical arm three-dimensional space work range, the laser tracker is adopted for measuring N absolute position coordinates of the tail end of the mechanical arm, on the basis of the kinematics parameter error calibration model, through repeated iteration, the mechanical arm kinematics parameter error is solved, a corrected kinematics parameter is input into a mechanical arm controller, and offline calibration of the mechanical arm is achieved; the mechanical arm tail end position measuring method is high in robustness, high in speed, and high in process automation degree, the adopted error solving method is high in speed, high in precision and simple in process, and the high-precision rapid calibration of joint type mechanical arm kinematics parameters can be achieved.

Description

technical field [0001] The invention belongs to the field of kinematics of industrial manipulators, and relates to a method for calibrating kinematics parameters of a manipulator based on a laser tracker. Background technique [0002] Multi-degree-of-freedom industrial manipulators are widely used in many fields such as aerospace, medicine, and industrial production due to their advantages of high flexibility, strong maneuverability, and wide range of space. The performance of industrial robotic arms (such as motion accuracy, positioning accuracy, etc.) directly affects its application in the field of precision machining. Among them, the absolute positioning accuracy of the end is one of the important indicators for evaluating the performance of industrial manipulators. After in-depth research by domestic and foreign scholars, the repeat positioning accuracy of the end of industrial manipulators has been greatly improved. However, due to the cumulative error in manipulator ...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the defects and deficiencies of the existing industrial manipulator arm kinematics parameter calibration method, such as difficulty in terminal attitude measurement, poor space adaptability, and no consideration of errors introduced due to the deviation of the measurement coordinate system.

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