论文标题
基于拨号指示器的新型机器人校准方法，具有平面约束
A novel robot calibration method with plane constraint based on dial indicator
论文作者
论文摘要
随着电子技术开发和生产技术的改进，工业机器人为社会服务和工业生产提供了优势。但是，由于长期机械磨损和结构变形，绝对定位精度较低，这极大地阻碍了制造业的发展。校准机器人的运动学参数是解决该机器人的有效方法。但是，主要测量设备（例如激光跟踪器和坐标测量机）很昂贵，需要特殊人员才能操作。此外，在测量过程中，由于许多环境因素的影响，产生了测量噪声，这将影响机器人的校准精度。在这些基础上，我们完成了以下工作：a）基于平面约束的机器人校准方法，以简化测量步骤； b）采用平方根培养的卡尔曼滤波器（SCKF）算法来减少测量噪声的影响； c）提出了一种新型算法，用于鉴定基于SCKF算法和Levenberg Marquardt（LM）算法的运动学参数以达到高校准精度； d）采用拨号指示器作为削减成本的测量设备。足够的实验验证了所提出的校准算法和实验平台的有效性。
In pace with the electronic technology development and the production technology improvement, industrial robot Give Scope to the Advantage in social services and industrial production. However, due to long-term mechanical wear and structural deformation, the absolute positioning accuracy is low, which greatly hinders the development of manufacturing industry. Calibrating the kinematic parameters of the robot is an effective way to address it. However, the main measuring equipment such as laser trackers and coordinate measuring machines are expensive and need special personnel to operate. Additionally, in the measurement process, due to the influence of many environmental factors, measurement noises are generated, which will affect the calibration accuracy of the robot. Basing on these, we have done the following work: a) developing a robot calibration method based on plane constraint to simplify measurement steps; b) employing Square-root Culture Kalman Filter (SCKF) algorithm for reducing the influence of measurement noises; c) proposing a novel algorithm for identifying kinematic parameters based on SCKF algorithm and Levenberg Marquardt (LM) algorithm to achieve the high calibration accuracy; d) adopting the dial indicator as the measuring equipment for slashing costs. The enough experiments verify the effectiveness of the proposed calibration algorithm and experimental platform.
