机器人2013，Vol.35Issue(2)：156-161,6.DOI:10.3724/SP.J.1218.2013.00156
一种基于指数积的串联机器人标定方法
A Calibration Method for Serial Robots Based on POE Formula
摘要
Abstract
A kinematics parameter calibration method for serial robots based on the product of exponential (POE) formula is presented. According to the adjoint transformation between the theoretical value and actual value of joint twists, the POE formula is transformed into an equivalent form including the joint constraints. A linearized model describing the relationship between the errors in the end-effector and the errors in the joint twists and in the zero position twist, is obtained by differentiating the kinematics equation. A least-squares kinematics calibration model for serial robots is given and the joint twists are updated through the adjoint transformation in the kinematic parameters identification procedure. A calibration simulation experiment with a 6-DOF (degree of freedom) serial robot shows that the calibration process can quickly converge to the stable values and the calibration result can compensate for the pose errors in the end-effector effectively.关键词
串联机器人/指数积/参数标定Key words
serial robot/ POE (product of exponential)/ parameter calibration分类
信息技术与安全科学引用本文复制引用
高文斌,王洪光,姜勇..一种基于指数积的串联机器人标定方法[J].机器人,2013,35(2):156-161,6.基金项目
国家863计划资助项目(2007AA041703) （2007AA041703）
国家自然科学基金资助项目(60905048) （60905048）
机器人学国家重点实验室自主课题(RLZ200802). （RLZ200802）
