机器人标定与补偿

IEEE J. Robotics Autom. Pub Date : 1988-12-01 DOI:10.1109/56.9302

W. K. Veitschegger, Chi-haur Wu

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引用次数: 143

摘要

提出了一种机器人机械手运动误差的标定和补偿方法。提出了一种选择一组独立运动误差来对机械臂结构中的任意几何误差进行建模的方法。提出了一种通过测量末端执行器位置来确定这些运动误差值的标定算法。通过实验确定了PUMA 560六关节机械手的运动学误差。开发了两种通用补偿算法，并对末端执行器的笛卡尔位置进行了实验测量，并给出了这些结果。结果表明，采用一种相对简单的方法测量附加在机器人末端的工具的笛卡尔位置，可以大大提高机器人的定位精度。>

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Robot calibration and compensation

A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator. >

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IEEE J. Robotics Autom.

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