机器人柔性关节建模及零位标定研究

摘要

现今机器人标定技术具有一定的成熟度,但当机器人关节具有一定柔性时,常规标定模型则存在不完整性的问题,并最终影响零位标定的效果.为此,论文对机器人柔性关节进行研究,分析柔性关节的变形规律,建立其相应的误差模型,改进原有的零位标定模型,分别对原有模型和改进模型进行实验,并对标定效果进行分析与比较.仿真实验结果表明,在含关节柔性的综合误差影响下,改进的零位标定误差模型具有更好的标定效果,并在基于工业机器人IRB120的实验平台上得到了相应的验证.%The existing robots calibration technique has a certain maturity,but there is still no complete calibration model in treatment of flexible joint problems,this ultimately affects the zero calibration result.Therefore,this paper focuses on the research of robot flexible joint and analysis of deformation of flexible joint,establishes the corresponding error model,improves the original zero calibration model,tests the original model and the improved model,and analyzes the calibration results.The simulation results show that,under the influence of comprehensive error including joint flexibility error,the calibration error model based on flexible joint model has better calibration results.Based on the experimental platform of industrial robot IRB120,the corresponding verifica-tion is carried out.