中国机械工程2024，Vol.35Issue(3)：472-480,9.DOI:10.3969/j.issn.1004-132X.2024.03.009
面向物理约束的机器人运动学标定最优位姿集规划方法研究
Research on Optimal Pose Set Planning Method under Physical Constraint Robot Kinematics Calibration
摘要
Abstract
In the processes of kinematics calibration of industrial robots under physical con-straints,the calibration accuracy was affected by the selection of the pose set,which in turn was con-strained by the calibration devices.To solve these problems,an optimal pose set planning method was proposed based on sampling interval evaluation combined with pose set optimization.Firstly,the ro-bot kinematics model and the distance constraint calibration model were established,and the robot system parameter error constraint equation and error Jacobian matrix were calculated.Secondly,the workspace of robot was divided into spatial grids and evaluate each grid interval using Latin hypercube sampling combined with observable indicators to obtain the optimal sampling interval.Finally,based on offline data,the calibration accuracy prediction model was established based on offline data and search for the optimal pose set within the optimal sampling interval.By planning and verifying the op-timal pose set for the ZhongRui RT-608 robot,the results show that the average fitting sphere radius after calibration is 0.3947 mm based on the optimal pose set,which is 57.98%lower than that of the random pose set.关键词
工业机器人/运动学标定/物理约束/最优位姿集/区间评价Key words
industrial robot/kinematic calibration/physical constraint/optimal pose set/interval evaluation分类
信息技术与安全科学引用本文复制引用
姜吉光,侯爵,苏成志,巴麒蛟,田爱鑫,徐明宇..面向物理约束的机器人运动学标定最优位姿集规划方法研究[J].中国机械工程,2024,35(3):472-480,9.基金项目
国防基础科研计划(JCKY2019411B001) （JCKY2019411B001）
吉林省科技发展计划(20210201041GX) （20210201041GX）
吉林省重大科技专项(20220301029GX) （20220301029GX）
