机器人Issue(4)：486-492,7.DOI:10.13973/j.cnki.robot.2015.0486
基于6参数模型的6R串联机器人运动学参数辨识
Kinematic Parameter Identification for 6R Serial Robots Based on a 6-Parameter Model
摘要
Abstract
To avoid discontinuous parameters and low-speed convergence in kinematic parameter error identification, an error model for 6R serial robots based on a 6-parameter model is established in the link coordinate systems set up with DH (Denavit-Hartenberg) method. A formula for parameter conversion is derived. In order to compare the results produced by the MDH (modified DH) model and the 6-parameter model, a computer simulation experiment in presence of random noise errors in drives and measuring instruments is designed. The average absolute error is decreased by 96.1%and 52.9%respectively by using the 6-parameter model and the MDH model. The results show that the 6-parameter model has completeness and continuity. The range of model parameters can be derived from the manufacturing tolerances. The 6-parameter model is superior to the MDH model in terms of identification speed. By limiting the parameter range, the influence of lack-of-minimality on error identification is eliminated. The method is applied to parameter identification of an SR165 robot, and the average positioning error is reduced from 2.5 mm to 0.35 mm.关键词
工业机器人/结构误差/参数辨识Key words
industrial robot/structural error/parameter identification分类
信息技术与安全科学引用本文复制引用
白云飞,丛明,杨小磊,刘冬..基于6参数模型的6R串联机器人运动学参数辨识[J].机器人,2015,(4):486-492,7.基金项目
辽宁省科技创新重大专项项目--智能型搬运与加工机器人（201302001）． （）
