东北大学学报(自然科学版) ›› 2025, Vol. 46 ›› Issue (4): 1-7.DOI: 10.12068/j.issn.1005-3026.2025.20230303

• 信息与控制 •    

基于关节几何误差的机器人绝对位置精度标定算法

梁亮, 吴成东, 刘世昌   

  1. 东北大学 信息科学与工程学院,辽宁 沈阳 110819
  • 收稿日期:2023-11-02 出版日期:2025-04-15 发布日期:2025-07-01
  • 作者简介:梁 亮(1987—),男,河北张家口人,东北大学博士研究生
    吴成东(1960—),男,辽宁大连人,东北大学教授,博士生导师.
  • 基金资助:
    国家自然科学基金资助项目(U20A20197)

Absolute Position Accuracy Calibration Algorithm for Robots Based on Joint Geometric Error

Liang LIANG, Cheng-dong WU, Shi-chang LIU   

  1. School of Information Science & Engineering,Northeastern University,Shenyang 110819,China. Corresponding author: LIANG Liang,E-mail: liangliang_neu@163. com
  • Received:2023-11-02 Online:2025-04-15 Published:2025-07-01

摘要:

提出一种引入关节几何误差参数的工业机器人运动学模型和误差参数标定算法.首先,在DH(Denavit-Hartenberg)模型基础上,为每个关节引入6个几何误差参数,建立更为完善的标定误差模型,并实现该模型的正逆运动学求解算法.然后,建立包含关节误差、基坐标误差和工具坐标误差共45个参数的微分运动学雅可比矩阵,并采用小样本测试集实现基于迭代算法的误差参数求解.最后,在新松SR10C机器人上使用激光跟踪仪完成实验验证,将标定得到的误差参数补偿到模型中.结果表明,经过标定补偿后的机器人最大位置误差减小约80%,平均位置误差减小约80%,误差方差减小约97%,证明该方法可大幅提升工业机器人绝对位置精度和确定性.

关键词: 工业机器人, 绝对位置精度, 运动学模型, 几何误差, 标定

Abstract:

An industrial robot kinematic model with joint geometric error parameters and a calibration algorithm is proposed. Firstly, based on the DH model, six geometric error parameters are introduced for each joint to establish a more comprehensive error calibration model. The solutions of forward and inverse kinematic for the model are realized. Then, a differential kinematic Jacobian matrix containing 45 parameters, including joint errors, base coordinate errors, and tool coordinate errors is established. An iterative algorithm based on a small sample test set is used to solve the error parameters. Finally, experimental verification is carried out using a laser tracker on the SIASUN SR10C robot. The calibrated error parameters are then compensated into the model. Results show that, after calibration compensation, the maximum position error of the robot decreases by approximately 80%, the average position error decreases by approximately 80%, and the error variance decreases by approximately 97%, demonstrating that this method can significantly improve the absolute position accuracy and determinacy of industrial robots.

Key words: industrial robot, absolute position accuracy, kinematic model, geometric error, calibration

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