测控技术2025，Vol.44Issue(5)：46-51,6.DOI:10.19708/j.ckjs.2025.05.303
多关节工业机器人精度增强方法研究
Research on Accuracy Enhancement Methods for Multi-Articulated Industrial Robots
摘要
Abstract
Multi-articulated industrial robots are the most typical robots in current industrial applications.To expand the application of multi-articulated industrial robots in the high-precision field,the research on the ac-curacy enhancement method of multi-articulated industrial robots is carried out.Firstly,the kinematic model of the multi-articulated industrial robot is constructed based on the Denavit-Hartenberg(DH)model by integra-ting the reduction ratio parameter.Secondly,the kinematic error model of the multi-articulated industrial robot is derived.Then,the error calibration experimental system of multi-articulated industrial robot is established,which can implement accurate position error measurement.In order to improve the identification accuracy of the kinematic parameters,the individual iterative update method of the individual optimal value is added to the classical sine-cosine algorithm(SCA),which can maintain the diversity of individuals.The experimental results show that the proposed improved SCA algorithm can reduce the average comprehensive position error and aver-age comprehensive attitude error of the robot from(3.2210 mm,0.02725 rad)to(0.3583 mm,0.01713 rad).The maximum comprehensive position error and maximum comprehensive attitude error of the robot are also reduced from(8.8596 mm,0.05043 rad)to(1.2096 mm,0.02599 rad).Compared with the classical SCA and particle swarm optimization(PSO)algorithm,the proposed improved SCA has a greater advantage in position accuracy improvement.关键词
多关节机器人/工业机器人/误差标定/精度增强/运动学模型Key words
multi-articulated robots/industrial robots/error calibration/accuracy enhancement/kinematic mod-el分类
计算机与自动化引用本文复制引用
何杏兴,李松领,芮平,乔贵方..多关节工业机器人精度增强方法研究[J].测控技术,2025,44(5):46-51,6.基金项目
国家自然科学基金(5190525) （5190525）
中国博士后科学基金(2019M650095) （2019M650095）
江苏省科技成果转化专项资金项目(BA2015001) （BA2015001）
