面向精密装配的六轴工业机器人局部装配空间运动学标定

2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) Pub Date : 2022-08-08 DOI:10.1109/3M-NANO56083.2022.9941703

Beichao Shi, Fujun Wang, Yuandong Tian, Rui Shi, Xiaolu Zhao, Dawei Zhang

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引用次数: 0

摘要

工业机器人的标定研究主要集中在全局工作空间，但很难保证工业机器人在工作空间内具有良好的绝对定位精度。为了提高定位精度，提出了一种工业机器人局部装配空间的运动学标定方法。基于改进的Denavit-Hartenberg (MDH)模型，建立了工业机器人的运动误差模型。分析了冗余误差参数对运动参数辨识的影响。利用相关容差和矩阵奇异值分解对运动参数辨识方法进行了改进。然后，通过仿真和实验验证了该标定方法的性能。实验结果表明，工作空间内的定位精度从1.716 mm显著降低到0.149 mm。

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Kinematic Calibration in Local Assembly Space of a Six-axis Industrial Robot for Precise Assembly

The research on the calibration of industrial robots mainly focuses on the global workspace, but it is difficult to ensure that industrial robots have good absolute positioning accuracy in the workspace. This paper proposes a kinematic calibrating method of industrial robot in local assembly space to improve the positioning accuracy. The kinematic error model of industrial robot is established based on modified Denavit-Hartenberg (MDH) model. The influence of redundant error parameters on kinematic parameter identification is analyzed. The method used in kinematic parameters identification is improved by using correlation tolerance and matrix singular value decomposition. Then, simulation and experimental test are carried to investigate the performance of the calibrating method. The experimental results indicate that the positioning accuracy inside the workspace is significantly reduced from 1.716 mm to 0.149 mm.

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

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