基于改进鸡群优化算法运动学与改进鸡群优化-Elman神经网络非运动学的机器人误差标定OA北大核心CSTPCD

Aiming at the positioning error calibration problem of industrial robots,we combine the kine-matics and non-kinematics aspects to calibrate the positioning error of robots.Aiming at the kine-matics of a robot,a kinematics error model is developed and an improved chicken swarm optimica-tion(CSO)algorithm is proposed to identify the geometric parameter error of the robot.The effect of the proposed algorithm is verified by comparing the Levenberg-Marquardt iterative algorithm and the particle swarm optimization algorithm.The IRB1200 robot is taken as the experimental object,and error data are collected using an APIT3 laser tracker.A robot error calibration experiment platform is built to conduct experiments.The experimental measurement shows that the average po-sitioning error of the robot end is decreased from 2.76 mm to 1.45 mm,which is increased by 47.5％.Furthermore,for the non-kinematic aspect of the robot,the improved CSO algorithm pro-posed in the kinematic error calibration is used to optimize the initial threshold and weight of the Elman neural network,and the Elman neural network optimized with initial parameters is used to establish the mapping relationship between the robot end position error and the robot joint angle to predict the robot position error in a trained robot cube space.The prediction effect of the ordinary Elman neural network was compared.The experimental measurement shows that the average posi-tioning of the robot end is improved by 34.9％compared with that before calibration,which verifies the fitting prediction effect of the neural network proposed in this study.