Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)
机械工程     
机器人末端位移传感器的安装位置标定方法
袁康正1,朱伟东1,陈磊2,薛雷2,戚文刚2
1.浙江大学 机械工程学系,浙江 杭州 310027； 2. 上海飞机制造有限公司,上海 200436
Approach for calibrating position of displacement sensor mounted on robot end-effector
YUAN Kang-zheng1, ZHU Wei-dong1, CHEN Lei2, XUE Lei2, QI Wen-gang2
1. Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; 2. Shanghai Aircraft Manufacturing Limited Company, Shanghai 200436, China
 全文: PDF(1184 KB)   HTML
摘要：

针对机器人末端激光位移传感器位置的标定问题,基于平面和球面模板拟合的标定模型,设计一种同时标定位移传感器方向和位置参数的标定方法.以机器人离线编程与机器人运动学仿真为基础,对2种标定算法进行系统的仿真对比实验.分析影响2种标定模板标定精度的影响因素,如传感器测量误差、测量长度以及标定参数数量.引入可观测指数来评价机器人运动空间中测量姿态的标定效率.通过优化算法计算得出一组近似最优测量姿态以及最佳评价指数,减少非建模误差以及测量误差对标定结果的影响,有效地提高算法的抵抗噪声能力、标定精度以及标定效率.实验结果表明,使用该标定方法标定后的位置参数标准差为0.37 mm,方向参数标准差为0.35°．
Abstract:

In order to calibrate the position and orientation of laser displacement sensors mounted on a robot, an approach was devised for calibrating the position and orientation parameters simultaneously, based on the model of plane and sphere fitting. A contrast experiment was proposed and conducted systematically based on robot off-line programming and robot kinematics simulation. Effects on the accuracy of the two calibration algorithm were also analyzed such as the measurement error, length of sensor and the number of calibration parameters. Observability indices were introduced to evaluate the efficiency of parameter identification with the measurement configurations in robot motion space. Optimal measurement configurations and best evaluation index were calculated using on optimization algorithm. The effects of the non-modeling error and measurement error are reduced. The stability, accuracy and efficiency of the algorithm are improved. Experiment results of our improved calibration algorithm indicate that the standard deviation of position is 0.37 mm , the standard deviation of orientation is 0.35°．
出版日期: 2015-12-26
:  TP 242  
基金资助:

国家自然科学基金资助项目（51205352）
通讯作者: 朱伟东，男，副教授     E-mail: wdzhu@zju.edu.cn
作者简介: 袁康正(1990－), 男,硕士,从事机器人精密制孔、视觉测量等研究. E-mail:441090246@163.com
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

袁康正,朱伟东,陈磊,薛雷,戚文刚. 机器人末端位移传感器的安装位置标定方法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.05.003.

YUAN Kang-zheng, ZHU Wei-dong, CHEN Lei, XUE Lei, QI Wen-gang. Approach for calibrating position of displacement sensor mounted on robot end-effector. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.05.003.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.05.003    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I5/829

[1] 王胜华, 都东, 张文增, 等. 机器人定点变位姿手-眼标定方法\[J\]. 清华大学学报 ：自然科学版, 2007, 47(2): 165-168.
WANG Sheng-hua, DU Dong, ZHANG Wen-zeng, et al. Hand-eye calibration for the robot by measuring a fixed point from different poses \[J\]. Journal of Tsinghua University ：Science and Technology, 2007, 47(2): 165-168.
[2] GAN Z, TANG Q. Visual sensing and its applications: integration of laser sensors to industrial robots \[M\]. Hangzhou: Zhejiang University Press, 2011.
[3] MITSI S, BOUZAKIS K D, MANSOUR G, et al. Off-line programming of an industrial robot for manufacturing \[J\]. The International Journal of Advanced Manufacturing Technology, 2005, 26(3): 262-267.
[4] SHIU Y C, AHMAD S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX= XB \[J\]. Robotics and Automation, IEEE Transactions on, 1989, 5(1): 16-29.
[5]  LI J, ZHU J, DUAN K, et al. Calibration of a portable laser 3-D scanner used by a robot and its use in measurement \[J\]. Optical Engineering, 2008, 47(1): 017202-0172028.
[6]  REN Y J, YIN S B, ZHU J G. Calibration technology in application of robot-laser scanning system \[J\]. Optical Engineering, 2012, 51(11): 114204-114204.
[7] 吴聊, 杨向东, 蓝善清, 等. 基于平面模板的机器人TCF 标定\[J\]. 机器人, 2012, 34(1): 98-103.
WU Liao, YANG Xiang-dong, LAN Shan-qing, et al. Robotic TCF calibration based on a planar template \[J\]. Robot, 2012, 34(1): 98-103.
[8]  ZHU Z, TANG Q, LI J, et al. Calibration of laser displacement sensor used by industrial robots \[J\]. Optical Engineering, 2004, 43(1): 12-13.
[9]  ZHOU A, GUO J, SHAO W, et al. A segmental calibration method for a miniature serial-link coordinate measuring machine using a compound calibration artefact \[J\]. Measurement Science and Technology, 2013, 24(6): 065001.
[10]  卢科青, 王文, 陈子辰. 点激光测头激光束方向标定\[J\]. 光学 精密工程, 2010, 18(4): 880-886.
LU Ke-qing, WANG Wen,CHEN Zi-chen. Calibration of laser beam-direction for point laser sensors \[J\]. Optics and Precision Engineering, 2010, 18(4): 880-886.
[11]  陈淑铭，乔田田.一个求解非线性最小二乘问题的新方法\[J\].烟台大学学报：自然科学与工程版，2004，01：14-22.
CHEN Shu-ming,QIAO Tian-tian. A new method of solving problem of nonlinear least square \[J\].Journal of Yantai University: Natural Science and Engineering Edition, 2004,17(1):14-22.
[12]  SUN Y, HOLLERBACH J M. Observability index selection for robot calibration \[C\]∥IEEE International Conference on Robotics and Automation. Pasadena: IEEE, 2008: 831-836.
[13]  JOUBAIR A, BONEV I A. Comparison of the efficiency of five observability indices for robot calibration \[J\]. Mechanism and Machine Theory, 2013, 70: 254-265.
[1] 高德东, 李强, 雷勇, 徐飞, 白辉全. 基于几何逼近法的斜尖柔性穿刺针运动学研究[J]. 浙江大学学报(工学版), 2017, 51(4): 706-713.
[2] 汤志东, 贠超. 全自动快换装置快速接头技术综述[J]. 浙江大学学报(工学版), 2017, 51(3): 461-470.
[3] 徐显金, 吴龙辉, 杨小俊, 汤亮, 杨永峰. 高压直流巡检机器人的磁力驱动方法[J]. 浙江大学学报(工学版), 2016, 50(10): 1937-1945.
[4] 张湧涛, 宋志伟, 王一, 粘山坡. 基于空间网格的机器人工作点位姿标定方法[J]. 浙江大学学报(工学版), 2016, 50(10): 1980-1986.
[5] 朱雨时,杨灿军,吴世军,徐晓乐,周璞哲,单鑫. 水柱测量中的水下滑翔机转向性能[J]. 浙江大学学报(工学版), 2016, 50(9): 1637-1645.
[6] 贾松敏,卢迎彬,王丽佳,李秀智,徐涛. 分层特征移动机器人行人跟踪[J]. 浙江大学学报(工学版), 2016, 50(9): 1677-1683.
[7] 刘亚男,倪鹤鹏,张承瑞,王云飞,孙好春. 基于PC的运动视觉一体化开放控制平台设计[J]. 浙江大学学报(工学版), 2016, 50(7): 1381-1386.
[8] 丁夏清,杜卓洋,陆逸卿,刘山. 基于混合势场的移动机器人视觉轨迹规划[J]. 浙江大学学报(工学版), 2016, 50(7): 1298-1306.
[9] 张阿龙, 章明, 乔明杰, 朱伟东, 梅标. 基于视觉测量的环形轨底座位姿标定方法[J]. 浙江大学学报(工学版), 2016, 50(6): 1080-1087.
[10] 江文婷, 龚小谨, 刘济林. 基于增量计算的大规模场景致密语义地图构建[J]. 浙江大学学报(工学版), 2016, 50(2): 385-391.
[11] 黄奇伟, 章明, 曲巍崴, 卢贤刚, 柯映林. 机器人制孔姿态优化与光顺[J]. 浙江大学学报(工学版), 2015, 49(12): 2261-2268.
[12] 李巍, 赵志刚, 石广田, 孟佳东. 多机器人并联绳牵引系统的运动学及动力学解[J]. 浙江大学学报(工学版), 2015, 49(10): 1916-1923.
[13] 马子昂,项志宇. 光流测距全向相机的标定与三维重构[J]. 浙江大学学报(工学版), 2015, 49(9): 1651-1657.
[14] 何雪军, 王进, 陆国栋, 陈立. 基于蚁群算法的机器人图像绘制序列优化[J]. 浙江大学学报(工学版), 2015, 49(6): 1139-1145.
[15] 付兴伟, 吴功平, 周鹏, 于娜. 基于卡尔曼滤波的巡视机器人能耗估计[J]. 浙江大学学报(工学版), 2015, 49(4): 670-675.