A Construction Method of Spatial Jacobian Matrix for Robot Parameter Identification

Abstract

The invention discloses a space Jacobian matrix construction method for robot parameter identification, including S100: constructing a robot kinematics model; S200: analyzing the differential motion characteristics of robot joints based on the robot kinematics model, and establishing a coordinate system in the case of differential motion The homogeneous transformation matrix between them; S300: Assuming that a joint coordinate system undergoes differential motion, on this basis, establish a virtual coordinate system corresponding to the joint, and construct a transformation matrix between the two, and then calculate the robot end relative to the base The actual pose of the coordinate system is compared with the original theoretical pose to obtain the pose error of the robot end relative to the base coordinate system caused by the motion error of the joint coordinate system, and construct the space Jacobian matrix of the robot. The method of the present invention is a robot space Jacobian matrix construction method based on the differential transformation principle and the virtual coordinate system method, has lower time consumption, and can quickly construct the robot space Jacobian matrix.

Description

technical field [0001] The invention belongs to the technical field of robot calibration, and more particularly relates to a method for constructing a spatial Jacobian matrix for robot parameter identification. Background technique [0002] The kinematic accuracy of an industrial robot plays a vital role in its application reliability in production. The geometric parameter error of each connecting rod of the robot is the most important part of the positioning error of the robot. It mainly comes from the deviation between the actual geometric parameter and the theoretical parameter value of the connecting rod during the manufacturing and installation process, and is generally regarded as a systematic error. [0003] Identifying the geometric parameter errors of each connecting rod of the robot is an important means to improve the motion accuracy of the robot. The main task of parameter identification is to construct the transformation relationship from the robot parameter err...

AI Technical Summary

Problems solved by technology

In the existing methods for constructing the robot space Jacobian matrix, the object Jacobian matrix of the robot is generally constructed first, and then the space Jacobian matrix is ​​constructed by using the transformation relationship between the two. The time consumption of the parameter identification algorithm is relatively long, and it is difficult to adapt Technical Requirements for Robot Calibration

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