Chosen the LR20 robot with six degrees of freedom as the research object and built a D-H model of robot kinematics ,derived the robotic differential error equation on the basis of kinematic equation . Using laser tracker measurement and Spatial Analyzer software designed kinematics calibration experiment, selec-ting 100 partition poses to start calibration, the accuracy of parameter identification is improved by the adop-tion of robotic precalibration . According to the calibration results, use the recursive least squares method to identify the parameters in the MATLAB, finally carry on the two error compensation. The experimental re-sults show that: according to the five-points testing standards formulated by ISO 9283 , the absolute positio-ning accuracy can reach 0. 5mm, the maximum value is not more than 1mm, an average increase of 67.12% . The results show that the method is accurate and effective.%文章以LR20型6自由度工业机器人为研究对象,建立了机器人运动学的D-H模型,并在运动学方程的基础上推导机器人微分误差模型.利用激光跟踪仪和配套Spatial Analyzer软件设计运动学标定实验,分区选取100个位姿展开标定,通过采用机器人的预标定来提高参数辨识的准确性.针对标定结果,在Matlab中使用递推最小二乘法进行参数辨识,最后进行二次误差补偿.实验结果显示:按照ISO 9283制定的五点检测标准,绝对定位精度能够达到0.5mm,最大值不超过1mm,平均提高了67.12% .表明该方法较为准确、有效.
展开▼
