A parameter calibration method for a shoulder joint rehabilitation robot
A rehabilitation robot and parameter calibration technology, applied in the field of calibration, can solve problems such as affecting the workspace, and achieve the effects of improving motion accuracy, reducing the number of iterations, and simplifying operations
Active Publication Date: 2022-05-17
NANJING UNIV OF POSTS & TELECOMM
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Each kinematic joint of the robot is restricted by various constraints, which affect its workspace
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0046] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
[0047] The present invention establishes the kinematics model of the three-degree-of-freedom shoulder joint rehabilitation robot based on the exponential product formula, uses the sobol algorithm to analyze the global sensitivity of the kinematic parameters in the end position error model, and establishes the exponential product kinematics error through the analyzed results model, and deduce the establishment of a reduced-dimensional exponential product kinematics error model when a certain joint of the robot is constrained by a plane. Input multiple sets of joint angles, solve the nominal pose data through the exponential product kinematics model, and obtain the actual pose data through the las...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a parameter calibration method of a shoulder joint rehabilitation robot, which obtains different joint angles of the rehabilitation robot, inputs them into a pre-built exponential product kinematics model, and outputs the end pose of the robot; and inputs the end pose of the robot to the pre-built end position Error model, through the global sensitivity analysis of the end position to obtain the choice of robot kinematic parameters; input the retained kinematic parameters into the pre-built dimensionality reduction exponential product kinematic error model, and output the robot end pose error; the obtained robot The terminal pose error is input into the pre-built surface-constrained reduced-dimensional exponential product kinematics error model, and the terminal pose error of a certain joint of the rehabilitation robot under the surface constraint is output; the terminal pose error of a certain joint of the rehabilitation robot under the surface constraint Calibration of kinematic parameters based on LM algorithm using line search. Advantages: Simplify the calculation, realize the calibration of the kinematic parameters of the robot, and improve the motion accuracy of the robot.
Description
technical field [0001] The invention relates to a parameter calibration method of a shoulder joint rehabilitation robot, which belongs to the technical field of calibration. Background technique [0002] With the development of robot technology, more and more industries have higher requirements for the accuracy of robots. Therefore, it is particularly important to carry out research on the positioning accuracy of robots. Kinematics calibration is a key technology to improve robot accuracy, and it is of great significance in today's unprecedented development of robots. The calibration methods of robot kinematic parameters can be divided into model-based kinematic parameter calibration methods and non-model kinematic parameter calibration methods. The main steps of the model-based kinematic parameter calibration method are: modeling, measurement, calibration and error compensation. [0003] For the calibration of robot kinematics parameters, professionals at home and abroad ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1653
Inventor 严以哲陈盛戴建邦高翔谭彩铭
Owner NANJING UNIV OF POSTS & TELECOMM