| 李洪超1，张伟中1'2，李寅翔1，张奖1，李建万1.固定电机驱动的平面关节型机器人无参数运动学标定[J].轻工机械,2015,33(6): |
| 固定电机驱动的平面关节型机器人无参数运动学标定 |
| Non-Parametric Kinematic Calibration of Fixed-Motor-Driven Selective Compliance Assembly Robot Arm |
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| DOI：IO. 3969/j . issn. 1005 -2895. 2015. 06. 010 |
| 中文关键词: 平面关节型机器人 固定电机驱动 空间坐标转换 无参数化标定 |
| 英文关键词:SCARA ( selective compliance assembly robot arm) fixed-motor drive conversion of spatial coordinates non-parametric calibration |
| 基金项目:浙江省高校重巾之重学科开放基金资助( ZSTUMEOIA07)；浙江省滑动轴承T程技术研究巾心项目资助
( 2012E10028) |
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| 中文摘要: |
| 针对传统平面关节型机器人（简称SCARA）运动臂质量大的缺点，设计一种固定电机驱动的SCARA。为提高其
精度用无参数化标定的方法进行运动学标定，根据D-H方法，在空间坐标转换的基础上建立了该SCARA的数学模型，
得到杆件间相对位置关系；通过外部测量设备测出末端执行器的位姿，利用运动学正逆解解出实际位姿与理论位姿之间
驱动输入的差值，补偿到理论的输入中，得到补偿后的动平台位姿。通过计算机仿真表明该标定方法能极大提高末端执
行器的位置精度，证明了无参数化标定方法的有效性和可靠性。 |
| 英文摘要: |
| To solve the disadvantage that the great weight of movement arm on conventional selective compliance
assembly robot arm ( SCARA ) , this paper designed a fixed-motor-driven SCARA. Non-parametric calibration method was
applied for kinematics calibration to improve the accuracy. According to D-H method. established the mathematics
model of SCARA robot based on the conversion of spatial coordinates and obtained the relative positional relationship
among the connecting rods; through external measuring equipment to measure the position of the end-effector. The
difference between actual position and expected position was obtained by solving direct kinematics and inverse
kinematics. Then the end-effector of posture can be compensated. The computer simulation results show that this method
can effectively improve the positional accuracy of the end-effector. The validity and reliability of the mentioned method is
verified. |
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