传感技术学报2025，Vol.38Issue(3)：511-517,7.DOI:10.3969/j.issn.1004-1699.2025.03.018
基于激光测距传感器的机械臂末端位姿误差校正方法
A Method for Correcting the Pose Error of the Robotic Arm End Based on Laser Ranging Sensors
摘要
Abstract
The error correction effect is poor and the stability of the robot arm is low due to insufficient error consideration.Therefore,a method of the end position and attitude error correction of the robot arm based on the laser ranging sensor is proposed.The pose error of the end of the robot arm is determined based on the principle of laser distance measurement sensor through the least square algorithm,in-cluding position error and attitude error.The genetic algorithm with improved fitness is adopted to analyze the pose error of the end of the robot arm in combination with the nonlinear transfer characteristics according to the obtained errors,the error compensation is obtained,and the error correction method of the end pose of the robot arm is constructed.The position and pose error correction of the end of the manipulator is realized.The experiments show that the maximum error are corrected by using the proposed method is only 0.13 cm,the re-sponse time is less than 1.25 s,the complexity is 0.30,and the vibration interval is small(only[-0.03,0.02]m),indicating that the method is relatively simple,can quickly realize the correction of the error of the robot arm,and reduces the complexity of the algorithm.The stabil-ity of the mechanical arm is improved.关键词
激光测距传感器/机械臂末端位姿/误差校正/最小二乘算法/遗传算法/非线性传递特性Key words
laser ranging sensor/robotic arm end pose/error correction/least squares algorithm/genetic algorithm/nonlinear transfer characteristics分类
计算机与自动化引用本文复制引用
韩金利,尚卓..基于激光测距传感器的机械臂末端位姿误差校正方法[J].传感技术学报,2025,38(3):511-517,7.基金项目
2020年山西省高等学校科技创新项目(2020L0760) （2020L0760）
