轻工机械2017，Vol.35Issue(4)：1-7,7.DOI:10.3969/j.issn.1005-2895.2017.04.001
基于LM算法的机器人运动学标定
Kinematic Calibration for Robot Based on LM Algorithm
摘要
Abstract
The robot calibration method of parameter estimation and error compensation is an important means to improve the positioning accuracy of robot end-effectors.Denavit-Harteriberg kinematic model of the UR3 robots was established by the research group.Measurement space was determined by frequency probability distribution of workspace of robot end-effectors.The positions of the robot end-effectors in measurement space were measured by laser tracker.The least square objective function between the position error of the robot end-effectors and the geometric parameters was established,the iterative solution of which were made by using adaptive step-size LM(Levenberg-Marquardt) algorithm.The kinematic model of robot system was corrected by these parameters.The calibration results was analyzed and verified in the end.The result showed that the maximum/mean/ root-mean-square position errors were reduced by 47.48%/ 37.98%/40.40% after calibration.The validity and reliability of the mentioned method was proved by experiment.关键词
串联机器人/运动学标定/LM算法/DH参数运动学模型/激光跟踪仪Key words
serial robot/kinematic calibration/LM(Levenberg-Marquardt) algorithm/DH(Denavit-Harteriberg) parametric kinematics model/laser tracker分类
信息技术与安全科学引用本文复制引用
皇甫亚波,杭鲁滨,程武山,余亮,李文涛,杨国彬,沈铖玮..基于LM算法的机器人运动学标定[J].轻工机械,2017,35(4):1-7,7.基金项目
国家自然科学基金(NFS51475050) （NFS51475050）
上海市科学技术委员会重点支撑项目(12510501100). （12510501100）
