摘要： 工业机器人在使用过程中产生的实际几何参数与理论参数偏差会影响定位精度,而精确地标定出机器人的零位参数能在很大程度上提高机器人的定位精度。为此,基于点约束对工业机器人零位标定进行研究,论述约束点分布对标定的影响。仿真实验结果表明,在理想情况下, 单点约束和多点约束均能得到精确的标定结果,但在系统带噪声的情况下,多点约束比单点约束具有更好的标定结果。

关键词: 零位标定, 精度, 单点约束, 多点约束, 位置传感器

Abstract: The deviation between real parameters in use of industrial robots and the theoretical parameters is the main factor which affects the positioning accuracy.Zero position is one of the most important parameters.Calibrating the zero position more accurately can always improve the positioning accuracy largely.This paper researches on robot zero position calibration based on point constraint,and researches on the influence of the distribution of the constraint points to the calibration results.This paper does both simulation and experiments on single-point constraint and multi-point constraint under ideal situation and noisy situation.Simulation results show that under ideal condition,both single- point constraint and multi-point constraint can get accurate simulation results,while under noisy condition,the latter can get better calibration results.

Key words: zero position calibration, accuracy, single-point constraint, multi-point constraint, position sensor

中图分类号: 

• TP18