Kinematics analysis and calibration of a 6-degree of freedom light load collaborative robot

Cobot Pub Date : 2022-09-15 DOI:10.12688/cobot.17568.1
Dianjun Wang, Zilong Wang, Ya Chen, Zhiguo Cui, Y. Zhu, Chaofei Wu
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引用次数: 0

Abstract

Background: In the process of carrying small forgings and other materials, the trajectory error of the 6-degree of freedom light-load collaborative robot will lead to the deviation of forgings placement position. The kinematics analysis and calibration of 6-degree of freedom light load collaborative robot are performed to solve the problem of trajectory error. Methods: The quaternion and cubic spline interpolation methods are adopted to plan the trajectory of the 6-degree of freedom light load collaborative robot. Based on the kinematic error model, the least squares estimation method is adopted to estimate the parameter error of the robot's connecting rod, and the parameter compensation values of each joint are obtained. Results: The kinematic calibration experiment shows that the coordinates of the robot end center are basically consistent with the actual coordinates after compensation, which verifies the rationality of the kinematic model and calibration method. Conclusions: The study lays the theoretical foundation for the trajectory error correction of the light load collaborative robot.
六自由度轻载协作机器人的运动学分析与标定
背景:在搬运小锻件等材料的过程中,6自由度轻载协同机器人的轨迹误差会导致锻件放置位置的偏差。针对六自由度轻载协作机器人的轨迹误差问题,对其进行了运动学分析和标定。方法:采用四元数和三次样条插值方法对6自由度轻载协作机器人的轨迹进行规划。基于运动学误差模型,采用最小二乘估计方法对机器人连杆的参数误差进行估计,得到各关节的参数补偿值。结果:运动学标定实验表明,补偿后的机器人末端中心坐标与实际坐标基本一致,验证了运动学模型和标定方法的合理性。结论:该研究为轻载协作机器人的轨迹误差校正奠定了理论基础。
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来源期刊
Cobot
Cobot collaborative robots-
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期刊介绍: Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.
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