机器人2012，Vol.34Issue(6)：680-688,9.DOI:10.3724/SP.J.1218.2012.00680
基于误差模型的机器人运动学参数标定方法与实验
Calibration Method and Experiments of Robot Kinematics Parameters Based on Error Model
摘要
Abstract
A method of robot kinematics parameters calibration based on error model is proposed, which separates positional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC (modified complete and parametrically continuous) method, while kinematics error model relative to inertial coordinate system is derived. On the basis, the separated kinematics parameters calibration method is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is verified by experiment results.关键词
串联机器人/误差模型/运动学参数标定/关节角度校正Key words
serial robot/ error model/ kinematics parameter calibration/ joint angle correction分类
信息技术与安全科学引用本文复制引用
陈钢,贾庆轩,李彤,孙汉旭..基于误差模型的机器人运动学参数标定方法与实验[J].机器人,2012,34(6):680-688,9.基金项目
国家自然科学基金资助项目(61175080) （61175080）
中央高校基本科研业务费专项资金资助项目(BUPT2011rc0026). （BUPT2011rc0026）
