现代制造工程Issue(9)：36-41,6.DOI:10.16731/j.cnki.1671-3133.2017.09.007
基于距离误差的服务机器人运动学参数标定研究
Research on kinematic calibration of service robot based on distance error
摘要
Abstract
A single joint error model of service robot has been set up independently ,which is based on MDH ( Modified Denavit-Hartenberg) model,the distance between two points in space to measure the error absolute positioning accuracy of the robot ,and combined with the establishment of a single joint error model ,the kinematic calibration model based on distance error was de-duced.The kinematics calibration model not only can simplify the measurement process ,but also avoids coordinate conversion be-tween measurement system and robot system ,and improves measurement accuracy.Finally,combined with the decoupling of the service robot structure characteristics to select the scheme of the experimental measurement points , and use three coordinates measuring instrument measuring the terminal position.Experimental results show that the precision of the robot has been increased by more than 60%.关键词
服务机器人/MDH模型/距离误差/参数标定Key words
service robot/Modified Denavit-Hartenberg ( MDH) model/distance error/kinematic calibration分类
信息技术与安全科学引用本文复制引用
姚兴田,施伟杰,张磊,徐丹,左骏秋..基于距离误差的服务机器人运动学参数标定研究[J].现代制造工程,2017,(9):36-41,6.基金项目
江苏省自然科学基金项目(BK20131205) （BK20131205）
2012江苏省"青蓝工程"优秀青年骨干教师培养对象项目 （）
