计量学报2024，Vol.45Issue(8)：1108-1114,7.DOI:10.3969/j.issn.1000-1158.2024.08.04
机器人几何参数标定误差模型对定位精度影响研究
Research on the Influence of Robot Geometric Parameter Calibration Error Model on Positioning Accuracy
摘要
Abstract
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.关键词
几何量计量/定位精度/机器人/MDH模型/冗余参数/误差模型Key words
geometric measurement/positioning accuracy/robot/MDH model/redundancy parameters/error model分类
通用工业技术引用本文复制引用
王东霞,唐颖,李国成,温秀兰,钱夔..机器人几何参数标定误差模型对定位精度影响研究[J].计量学报,2024,45(8):1108-1114,7.基金项目
国家自然科学基金(51675259) （51675259）
江苏省研究生科研与实践创新计划(SJCX22_1071) （SJCX22_1071）
江苏省产学研合作项目(BY 20230901) （BY 20230901）
