摘要： 针对由几何参数不精确引起工业机器人绝对定位精度低的问题,提出一种基于位姿修正位置敏感探测器的几何参数标定方法。通过建立误差运动学模型,使用位置敏感探测器(PSD)装置进行数据采样,利用位姿修正原理对末端激光器位姿和关节转角进行修正,构建模型约束目标函数,运用LM算法计算得到几何参数误差,修正几何参数名义值。实验结果表明,该方法避免了PSD反馈控制,能够快速实现工业机器人几何参数标定,定位平均误差和标准差分别为78.28%、76.38%,有效提高了机器人的定位精度。

关键词: 工业机器人, 定位精度, 几何参数, 运动学模型, LM算法

Abstract: Aiming at the problem that the geometric parameters are not accurate and the absolute accuracy of the industrial robot is low,a geometric parameter calibration method based on Pose Modify Position Sensitive Detector(PMPSD) is proposed.Through the establishment of the error kinematics model,and the PSD device is used to sample the data,the pose correction principle is used to correct the end laser pose and joint angle,and the model constraint objective function is established.The geometric parameters errors are obtained by using the LM algorithm,and the nominal values of geometric parameter are corrected by the parameter errors.Experimental results show that the method avoids PSD feedback control,and can quickly realize geometric parameters calibration of industrial robots,the positioning mean error and standard deviation are 78.28% and 76.38% respectively,it effectively improves the positioning accuracy of the robot.

Key words: industrial robot, positioning accuracy, geometric parameter, kinematic model, LM Algorithm

中图分类号: 

• TP18