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Mechanical arm calibration method introducing elastic deformation
Authors
姜勇
宋屹峰
+4 more
潘新安
王争
王洪光
胡明伟
Publication date
15 June 2021
Publisher
Abstract
本发明涉及机器人标定技术领域,具体地说是一种引入弹性变形的机械臂标定方法,具体包括:步骤一:将机械臂本体拆分为连杆模块和关节模块,并分别建立各模块的刚度模型;步骤二:将步骤一中各个模块的刚度模型串联获得整机刚度模型;步骤三:建立机械臂的几何参数误差模型;步骤四:将步骤二中获得的整机刚度模型引入步骤三中的几何参数误差模型中,得到综合误差方程;步骤五:将标定实验数据代入步骤四中的综合误差方程中求解,获得机械臂的几何参数误差。本发明将机械臂的弹性变形引入到机械臂的误差模型中,提供了一种更加精度更高的机械臂标定方法
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 09/06/2022