Parallel robot calibration method based on tail end error detection information subset

Abstract

The invention discloses a parallel robot calibration method based on a tail end error detection information subset. The method comprises the following steps of establishing a parallel robot kinematic model based on a D-H method; establishing a parallel robot error model based on a matrix method; simplifying the parallel robot error model based on a minimum parameter linear combination theorem; establishing a parallel robot error identification model based on the tail end error detection information subset; measuring the actual pose of the tail end of a parallel robot, and acquiring the pose error of the tail end of the parallel robot by subtracting the theoretical pose from the actual pose; and compensating the error of the tail end of the parallel robot based on the structural error identification result of the parallel robot. The parallel robot calibration method based on the tail end error detection information subset has the advantages of being simple, practical, efficient and rapid, is suitable for six-degree-of-freedom and deficient-degree-of-freedom parallel robots, and has certain reference significance for precision calibration of other mechanisms.

Description

technical field [0001] The invention relates to a calibration method, in particular to a parallel robot calibration method based on a terminal error detection information subset. Background technique [0002] Accuracy calibration is an effective means to improve the motion accuracy of the terminal of a parallel robot. However, most of the existing calibration methods need to measure the full set of six-dimensional pose errors at the terminal, and the calibration process is cumbersome. [0003] The complete set of terminal error detection information is composed of the six-dimensional pose error of the robot terminal at the measuring point, and the subset of terminal error detection information is a part of the complete set of terminal error detection information. In most cases, since there is no commercial instrument available to accurately measure the three-dimensional attitude of a rigid body in space, it is extremely difficult and inefficient to measure the attitude error...

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Problems solved by technology

[0004] In the existing technology, the literature titled "Kinematic Calibration Technology of 6-DOF Parallel Configuration Equipment Based on Detection Information of Minimum Subset of Terminal Error" (The 5th International Youth Design and Manufacturing Science Conference.0.) proposed a A kinematic calibration method based on the detection information of the minimum error subset, which can simplify the work of error measurement, but does not propose how to solve the problem of identifiability of structural errors

The document titled "Step-by-step kinematic calibration of planar three-degree-of-freedom parallel machine tool" (Chinese Science (Series E: Technical Science), 2009 (01): 67-75.) proposes to perform QR decomposition on the identification matrix, and use the decomposed The upper triangular square matrix R proposes the least parameter error linear combination theorem, which ensures the identifiability of structural parameters, but there are still many terminal errors that need to be measured

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