Distance-limited industrial robot kinematics parameter estimation method

Abstract

The invention discloses an industrial robot kinematics parameter estimation method which comprises the following steps: 1, establishing an industrial robot kinematics model and a coordinate system of each joint by using standard D-H parameters, 2, completing calibration of a tool coordinate system through a single-axis rotation method, 3, the robot kinematic model and the tool coordinate system are combined with the robot tail end pose relation to establish a kinematic parameter estimation distance error model; 4, redundant parameters in the error model are removed, and a Dog-Leg algorithm is used for optimizing industrial robot kinematic parameters. Through the consistency of the distance between two points in different coordinate systems, calibration of the pose relation from the coordinate system of the measuring device to the coordinate system of the robot is avoided, the precision of the measuring system can be improved, and the kinematics parameters of the industrial robot can be accurately estimated.

Description

technical field [0001] The invention relates to the field of industrial robot kinematic parameter estimation, in particular to an industrial robot kinematic parameter estimation method based on relative distance limitation. Background technique [0002] Accuracy is one of the important indicators for evaluating the performance of industrial robots. Experimental studies show that among the factors affecting the overall accuracy of the robot, the error caused by the deviation of kinematic parameters accounts for about 65% to 95% of the total error. At present, the main method to improve the accuracy of the robot is to identify the actual kinematic parameters through the calibration method, and to compensate and correct the theoretical parameters, thereby reducing the error of the robot. [0003] When calibrating a robot with a common 3D measuring device, it is necessary to first know the coordinate transformation between the measuring coordinate system and the robot base coord...

AI Technical Summary

Problems solved by technology

However, in the process of establishing the robot base coordinate system, it is difficult for the two axes obtained by rotation to meet the condition of being perpendicular to each other, and the established coordinate system needs to be orthogonalized, which makes it difficult to accurately measure the coordinate transformation, and ultimately reduces the cost of the entire measurement system. precision

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