| Author Name | Affiliation | | Deli Zhang | College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China | | Yu Zhu | Nanjing Research Institute of Simulation and Technology, Nanjing 210010,China | | Lu Yang | Estun Automation Co., Ltd, Nanjing 210026,China | | Zhe Liu | Engineering Technology Center, Shenyang Aircraft Company, Shenyang 110850, China |
|
| Abstract: |
| Industrial robot which can acquire high accuracy has been widely used in automatic assembly. Usually, the geometric parameter of industrial robot should be inspected during manufacturing and application. High precision measurement equipment was utilized to acquire the position and orientation of robot’s end-effector, when calibrating the geometric parameter of robot. A kind of measurement system based on a draw-wire encoder was presented, since the current measurement equipment has some disadvantages, such as the cost and the requirements of working environment are high. According to this kind of measurement system, a sort of geometric calibration method of robot was presented including position and orientation parameters. The uncertain arc length of the cable length between robot end-effector and the measurement can be exactly acquired according to the position and orientation parameters. The pose-solving model of robot end-effector was associated with the kinematic model of robot, and robot’s geometric parameter can be computed by using the least-squares methods. Validate instance was conducted, the result showed that the optimal number of the calibration pose was 47 with little improvement in accuracy, even if increasing the number of calibration pose. Robot calibration experiment was performed and the results showed that the absolute accuracy of robot decreased from 4.32 mm to 0.87 mm after calibration, which improved the robot’s absolute accuracy effectively. |
| Key words: Robot Calibration Industrial robot Geometric parameter identification Robot accuracy draw-wire encoder |
| DOI：10.11916/j.issn.1005-9113. 2023046 |
| Clc Number:TP24 |
| Fund: |
|
| Descriptions in Chinese: |
| 基于位姿参数测量系统的机器人几何标定方法 张得礼1，朱煜2，杨露3，刘哲4 （1.南京航空航天大学 机电学院，南京 210016； 2.南京模拟技术研究所, 南京，210010； 3. 南京埃斯顿自动化股份公司，南京 210026； 4. 沈阳飞机工业 （集团） 有限公司工程技术中心，沈阳 110850） 摘要：工业机器人在制造和应用过程中，通常需要对其几何参数进行检测。在标定机器人几何参数时，利用高精度的测量设备来获取机器人末端执行器的位置和方向。针对现有测量设备存在成本高、工作环境要求高等缺点，提出一种基于拉线编码器的测量系统。针对这种测量系统，提出一种包括位置和方位参数的机器人几何标定方法。根据位置和方向参数，可以准确地获取机器人末端执行器与测量之间电缆长度的不确定弧长。将机器人末端执行器的位姿求解模型与机器人的运动学模型相关联，利用最小二乘法可计算机器人的几何参数。机器人标定实验结果表明，标定后机器人的绝对位置误差从4.32mm减小到0.87mm，有效地提高了机器人的绝对精度：当标定采样点的数量超过47个后，再增加标定采样点数量时对标定精度没有明显提高。 关键词：机器人校准；工业机器人；几何参数识别；机器人精度；拉线编码器 |
