计算机工程2018，Vol.44Issue(1)：17-22,6.DOI:10.3969/j.issn.1000-3428.2018.01.003
基于PMPSD的工业机器人几何参数标定方法
Method of Geometric Parameter Calibration for Industrial Robot Based on PMPSD
摘要
Abstract
Aiming at the problem that the geometric parameters are not accurate and the absolute accuracy of the industrial robot is low,a geometric parameter calibration method based on Pose Modify Position Sensitive Detector (PMPSD) is proposed.Through the establishment of the error kinematics model,and the PSD device is used to sample the data,the pose correction principle is used to correct the end laser pose and joint angle,and the model constraint objective function is established.The geometric parameters errors are obtained by using the LM algorithm,and the nominal values of geometric parameter are corrected by the parameter errors.Experimental results show that the method avoids PSD feedback control,and can quickly realize geometric parameters calibration of industrial robots,the positioning mean error and standard deviation are 78.28％ and 76.38％ respectively,it effectively improves the positioning accuracy of the robot.关键词
工业机器人/定位精度/几何参数/运动学模型/LM算法Key words
industrial robot/positioning accuracy/geometric parameter/kinematic model/LM Algorithm分类
信息技术与安全科学引用本文复制引用
李松洋,白瑞林,李杜..基于PMPSD的工业机器人几何参数标定方法[J].计算机工程,2018,44(1):17-22,6.基金项目
江苏高校优势学科建设工程项目(PAPD) （PAPD）
江苏省产学研前瞻性联合研究项目(BY2015019-38) （BY2015019-38）
江苏省科技成果转化项目(BA2016075). （BA2016075）
