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Online robot kinematics calibration method based on multi-sensor hybrid filter

A technology of robot kinematics and hybrid filters, applied in manipulators, program-controlled manipulators, navigation through speed/acceleration measurement, etc., can solve problems such as not starting from any position

Pending Publication Date: 2019-12-13
SOUTH CHINA UNIV OF TECH
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  • Claims
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Problems solved by technology

[0004] But the current calibration method is only in situ calibration, not starting from any position

Method used

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  • Online robot kinematics calibration method based on multi-sensor hybrid filter
  • Online robot kinematics calibration method based on multi-sensor hybrid filter
  • Online robot kinematics calibration method based on multi-sensor hybrid filter

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Embodiment Construction

[0072] The present invention will be described in further detail below in conjunction with the examples, but the embodiments of the present invention are not limited thereto. If there are any points not described in detail below, those skilled in the art can realize or understand with reference to the prior art.

[0073] like figure 1 An online robot kinematics calibration method based on a multi-sensor hybrid filter is shown, including the following steps:

[0074] S1. Use inertial sensors and position sensors to measure the orientation and position of the robot end-effector

[0075] In order to measure the rotation angle of the robot end around the x, y and z axes, an inertial measurement unit is rigidly fixed to the robot end effector, and the inertial measurement unit includes a magnetometer, two gyroscopes and an accelerometer; And the factored quaternion algorithm (FQA) of the measurement data of the gravitational field to improve the accuracy of the estimation process....

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Abstract

The invention provides an online robot kinematics calibration method based on a multi-sensor hybrid filter. The online robot kinematics calibration method comprises the following steps: 1, respectively measuring the orientation and position of an end effector of a robot by using an inertia sensor and a position sensor; 2, estimating the postures of the end of the robot by using Kalman filtering; 3, estimating the positions of the end of the robot by using particle filtering; and 4, collecting the postures of the robot by using a hybrid sensor, and calculating the differential error of the kinematic parameters by using extended Kalman filtering so as to optimize the kinematic error. According to the online robot kinematics calibration method, the robot parameters can be quickly corrected online without stopping the robot, so that the operation precision and efficiency of the robot are greatly improved.

Description

technical field [0001] The invention belongs to the field of robot motion, in particular to an online robot kinematics calibration method based on a multi-sensor hybrid filter. Background technique [0002] Due to the inherent tolerances in the production process, deviations between the measured and actual values ​​arise in the kinematic parameters of the robot. When using nominal kinematic parameters to estimate the position and orientation of the robot, robot end-effector errors will arise due to kinematic errors. To achieve calibration tasks, there are now a variety of measurement techniques such as expensive custom functions, coordinate measuring machines and laser tracking interferometer systems. [0003] Due to the development of sensors, the process of traditional offline robot motion calibration methods is converted to online mode. Traditional vision-based robot calibration technology, laser-based robot calibration technology, etc., realize online measurement of po...

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Application Information

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IPC IPC(8): B25J9/16G01C21/18
CPCB25J9/1692B25J9/1694G01C21/18
Inventor 杜广龙
Owner SOUTH CHINA UNIV OF TECH
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