六关节工业机器人TCP标定模型研究与算法改进

doi:10.3901/JME.2019.11.186

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 186-196.doi: 10.3901/JME.2019.11.186

六关节工业机器人TCP标定模型研究与算法改进

周星¹, 黄石峰², 朱志红²

1. 佛山智能装备技术研究院佛山 528225;
2. 华中科技大学国家数控系统工程技术研究中心武汉 430074

收稿日期:2018-06-19 修回日期:2018-12-27 出版日期:2019-06-05 发布日期:2019-06-05
通讯作者: 黄石峰(通信作者),男,1993年出生,博士研究生。主要研究方向为工业机器人运动规划、高精度插补算法、智能前瞻算法、奇异问题研究、动力学的建模、辨识与控制、顺应性控制研究等。E-mail:d201677154@hust.edu.cn
作者简介:周星,男,1982年出生。主要研究方向为工业机器人运动控制系统、多模态感知与交互技术、智能故障诊断技术等。E-mail:zhouxing@hzncc.com;朱志红,男,1964年出生,教授。主要研究方向为数控技术、交流伺服驱动技术、开放式运动控制平台技术研究与产品化。E-mail:13397157689@189.cn
基金资助:
国家科技重大专项资助项目（2012ZX04001-022）。

TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

ZHOU Xing¹, HUANG Shifeng², ZHU Zhihong²

1. Foshan Institute of Intelligent Equipment Technology, Foshan 528225;
2. National Numerical Control System Engineering Research Center, Huazhong University of Science and Technology, Wuhan 430074

Received:2018-06-19 Revised:2018-12-27 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

摘要： 研究了六关节工业机器人工具坐标系原点TCP的标定原理，提出了TCP标定的解析化模型和几何模型，并对标定误差来源进行了综合性分析，定量分析了标定点数和标定位姿对TCP标定精度的影响。在经典四点法标定的基础上，引入了误差阈值的概念，提出一种改进的"五点选优TCP标定算法"，并进行了仿真验证和实物验证。验证结果表明，提出的标定算法能够有效筛选出误差偏大的点，对标定精度能进一步提高，可靠性也得到了进一步保证。

关键词: TCP标定, 标定点数, 标定位姿, 解析化模型与几何模型, 六关节工业机器人, 选优

Abstract: The calibration principle of tool center point (TCP) of six-joint industrial robot is studied through the analytic model and geometric model and the source of calibration error is analyzed comprehensively. Furthermore, the influence of calibration point number and calibration pose on TCP calibration precision is analyzed quantitatively. Based on the classical algorithm of four point calibration, a concept of error threshold and an improved algorithm is proposed, named the priority selection from five calibration point. In addition, the simulation and experimental verification is carried out. The experimental results show that the faulty point can be picked out effectively, the calibration accuracy can be further improved and the reliability can be ensured by using the improved algorithm.

Key words: analytic and geometric model, screening, six-joint industrial robot, TCP calibration, the number of calibration point, the pose of the calibration point

中图分类号:

TP242

周星, 黄石峰, 朱志红. 六关节工业机器人TCP标定模型研究与算法改进[J]. 机械工程学报, 2019, 55(11): 186-196.

ZHOU Xing, HUANG Shifeng, ZHU Zhihong. TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot[J]. Journal of Mechanical Engineering, 2019, 55(11): 186-196.

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六关节工业机器人TCP标定模型研究与算法改进

TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

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