基于误差模型的机器人运动学参数标定方法与试验.PDF

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基于误差模型的机器人运动学参数标定方法与试验.PDF

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基于误差模型的机器人运动学参数标定方法与试验

34 6 ROBOT Vol.34, No.6 2012 11 Nov., 2012 DOI 10.3724/SP.J.1218.2012.00000 100876 MCPC modiﬁed complete and parametrically continuous TP242 A 1002-0446(2012)-06-0000-05 Calibration Method and Experiments of Robot Kinematics Parameters Based on Error Model CHEN Gang JIA Qingxuan LI Tong SUN Hanxu (School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China) Abstract: A method of robot kinematics parameters calibration based on error model is proposed, which separates posi- tional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC (modiﬁed complete and parametrically continuous) method, while kinematics error model relative to inertial coordinate system is de- rived. On the basis, the separated parameters method for kinematics calibration is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is veriﬁed by experiment results. Keywords: serial robots; error model; kinematics parameters calibration; joint angle correction 1 Introduction DH Stone5 DH S Zhuang6-7 CPC complete and parametrically continuou