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外文翻译--应用坐标测量机的机器人运动学姿态的标定.doc
Full-Pose Calibration of a Robot Manipulator Using a Coordinate-
Measuring Machine
Morris R. Driels, Lt W. Swayze USN and Lt S. Potter USN
Department of Mechanical Engineering, Naval Postgraduate School, Monterey, California, US
The work reported in this article addresses the kinematic
calibration of a robot manipulator using a coordinate measuring
machine (CMM) which is able to obtain the full pose of
the end-effector. A kinematic model is developed for the
manipulator, its relationship to the world coordinate frame and
the tool. The derivation of the tool pose from experimental
measurements is discussed, as is the identification methodology.
A complete simulation of the experiment is performed, allowing
the observation strategy to be defined. The experimental work
is described together with the parameter identification and
accuracy verification. The principal conclusion is that the
method is able to calibrate the robot successfully, with a
resulting accuracy approaching that of its repeatability.
Keywords: Robot calibration; Coordinate measurement; Parameter
identification; Simulation study; Accuracy enhancement
1. Introduction
It is well known that robot manipulators typically have
reasonable repeatability (0.3 ram), yet exhibit poor accuracy
(10.0 mm). The process by which robots may be calibrated
in order to achieve accuracies approaching that of the
manipulator is also well understood [1]. In the calibration
process, several sequential steps enable the precise kinematic
parameters of the manipulator to be identified, leading to
improved accuracy. These steps may be described as follows:
1. A kinematic model of the manipulator and the calibration
process itself is developed and is usually accomplished with
standard kinematic modelling tools [2]. The resulting model
is used to define an error quantity based on a nominal
(manufacturers) kinematic parameter set, and an unknown,
actual parameter set which is to be identified.
2. Experimental measurements of the rob
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