AXIS-INVARIANT-BASED ACCURATE MULTI-AXIS ROBOT STRUCTURE PARAMETER MEASUREMENT METHOD

摘要

An axis-invariant-based accurate multi-axis robot structure parameter measurement method, comprising: building a multi-axis robot system, wherein the multi-axis robot system includes a link sequence and a joint sequence, and converting the joint sequence in a tree chain to a corresponding axis sequence and a parent axis sequence thereof, an axis in the axis sequence being a translation axis or a rotation axis; using an axis set to correspondingly describe the multi-axis robot system and taking a natural coordinate system as a basis, wherein a natural joint space takes the natural coordinate system for reference, the origin of the natural coordinate system is located on a joint axis, and the directions of coordinate systems are consistent during system reset; forming a fixed axis invariant by means of an axis invariant and a position vector of the origin on an axis; and using a laser tracker or the other measurement devices to measure measuring points on links, wherein a measurement process is always carried out from a root link to a leaf link in sequence. The accuracy of modeling is ensured.