机器人几何参数标定误差模型对定位精度影响研究OA北大核心CSTPCD

The geometric parameter error of robots is the main factor affecting the positioning accuracy of robots,and the positioning accuracy of robots can be effectively improved by calibrating the geometric parameters.In order to solve the singularity problem of robots in the calibration process,improved Denavit-Hartenberg(MDH)method is adopted to establish the geometric parameter model of robots.Based on the principle of differential error,the full position error,position error,and attitude error models of robot geometric parameter calibration are established.The redundancy of geometric parameters and identifying geometric parameter errors are analyzed by using Levenberg-Marquardt(LM)algorithm and the influence of different error models on robot positioning accuracy are studied.The experimental results show that the accuracy of both position and attitude can be improved by about 75％after the geometric parameters are be calibrated based on the full position error model.And it is suitable for promotion and application in robots with high-precision positioning requirements.