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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Automatic Technology, Telecommunication Technology     
Robot position and rotation calibration method based on precision of spatial mesh
ZHANG Yong tao, SONG Zhi wei, WANG Yi, NIAN Shan po
College of Electrical Engineering, North China University of Science and Technology, Tangshan 063017, China
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Abstract  

The working characteristics of industrial robots is that robots always working in limited working points along a certain path. A robot work point calibration method based on the precision of spatial mesh was introduced according to the working characteristics of the robots. The spatial mesh precision was established based on spatial mesh accuracy in Cartesian space and Euler angle space. Then the “inverse distance to a power” method was used to calibrate robot’s pose error. The advantages of the new approach were twofold. 1) A conception named Euler angel space was proposed. In Euler angle space, the space grid accuracy control model was established, and the model was used for the robot to do the posture error calibration. 2) The robot’s position error and posture error were separated and calibrated separately. Then both the position and rotation precision can be simultaneously improved. Experimental results showed that the robot’s position and rotation precision was raised about an order of magnitude after calibration, and the feasibility and effectiveness of the method was proved.

Published: 28 October 2016
CLC:  TP 242  
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ZHANG Yong tao, SONG Zhi wei, WANG Yi, NIAN Shan po. Robot position and rotation calibration method based on precision of spatial mesh. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(10): 1980-1986.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2016.10.019     OR     http://www.zjujournals.com/eng/Y2016/V50/I10/1980


基于空间网格的机器人工作点位姿标定方法

针对工业机器人沿着一定的轨迹在若干个有限的工作点作业的特点,提出基于空间网格精度的机器人工作点位姿校准方法.基于笛卡尔空间和欧拉角空间的空间网格精度,利用反距离权重插值法,实现对机器人位姿误差的标定.该方法具有以下优点：1) 提出欧拉角空间概念.在欧拉角空间建立空间网格精度控制模型,用该模型对机器人作定姿误差标定；2) 把机器人的位姿误差分为定位误差和定姿误差,分别进行标定,能够提高机器人的定位、定姿精度.实验结果表明,标定以后机器人的定位、定姿精度提高了大约一个数量级,证明了该方法的可行性和有效性.

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