机器人及测量系统的模式辨识与补偿

现今，工业机器人已经被广泛用于汽车制造、医疗等行业，离线编程等技术出
现，要求机器人具有高的绝对定位精度，就需要对机器人进行标定。针对目前用于
工业机器人标定的测量设备成本高、标定算法精度一般等难题，本文推导开发了
使用一维长度的标定算法，并且以拉线编码器为传感器搭建了相适应的测量系统，
整体上形成了一套低成本、高效率的标定系统。全文的主要研究内容如下：
（1）以李群HL6 型号机器人作为建模对象，建立了机器人运动学误差模型。该
运动学误差模型包含伴随变换误差模型，把机器人末端执行器到测量工具间的一
维长度量作为测量输入，为测量系统的设计开发作出良好铺垫。
（2）分析了误差模型中运动学几何参数的可辨识性和可观测性。通过对矩阵
分析剔除运动学几何参数中的冗余参数，借助于OI 指数和DETMAX 算法使得运
动学几何参数的可观测性变好，提高标定算法精度，及测试算法对测量误差的敏
感性。
（3）以拉线编码器为测量传感器设计开发了一款测量系统。从传感器本身、测
量几何模型和装置结构三方面去分析测量系统误差，并对其进行补偿，提高测量
系统精度。
（4）对标定算法和测量系统进行了实验。运用MATLAB 软件进行仿真实验，
分析算法在含有真实测量误差情况下的辨识精度；使用激光跟踪仪和开发的测量
系统对李群机器人进行了标定实验。
关键词：工业机器人；运动学标定；误差分析；测量；拉线编码器

Industrial robots have been widely used in automobile manufacturing, medical and
other industries.Offline programming technology and various highprecision
scenarios
ask for higher absolute positioning accuracy of robots, so they need to be calibrated. Due
to the high cost of the measurement equipments used for industrial robots calibration
and the general accuracy of the calibration algorithm, the paper developed a calibration
algorithm using onedimensional
length, and built a suitable measurement system with
the drawwird
encoder. They made up a set of lowcost,
highefficiency
robot calibration
system.The following is the main contents of this paper:
(1) Taking QKM HL6 robot as an example, the kinematic error model of the robot
was derived through the adjoint transformation error model.It only needs to take the onedimensional
length as inputs, which is the distance between the robot TCP and the measuring
tool. It has made a good foundation for the design and development of the measurement
system.
(2) The paper analyzed identifiability and observability of the kinematic geometric
parameters in the error model.The redundant parameters in the kinematic geometric parameters
were eliminated by the matrix analysis, and the observability of the kinematic
geometric parameters was better with the help of the OI indexs and the DETMAX algorithm.
Better observability improved the accuracy of the calibration algorithm. The
sensitivity of the algorithm to the measurement error is analyzed.
(3) A measurement system is designed and developed with the drawwire
encoder as
the measurement sensor.the measurement system errors were analyzed from the sensor,
the measurement geometry model and the device structure and compensated to improve
the accuracy of the measurement system.
(4) The calibration algorithm and measurement system were proved by experiments.
the identification accuracy of the algorithm was calculated by simulation experiment with
real measurement errors in MATLAB software. Robot calibration experiment was done
to calculated accuracy of the algorithm by using the laser tracker.Finally, robot calibration
experiment was done to calculated robot calibration system by using the measuring
system.

Keywords: Industrial robots; kinematic calibration; measuring systems; error anlysis;
draw wire encoder

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