| 六自由度机器人末端位姿校准误差链路分析 |
| Analysis of calibration error propagation in the kinematic chain of a six⁃DOF robotic manipulator's end⁃effector pose |
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| 中文摘要: |
| 为研究校准误差对机器人末端定位精度的非线性影响，开展六自由度机器人末端位姿校准误差链路分析。采用修正的DH模型（Modified Denavit?Hartenberg Model， MDH）约束条件建立六自由度机器人的运动学参数模型，分析末端位姿变换的空间几何特征关系；分析机器人校准误差的来源，得到测量系统各坐标系之间的函数关系，构建机器人末端位姿校准误差传递链路模型。搭建六自由度机器人校准系统开展实验，结果表明：机器人末端校准误差主要来源包括连杆长度误差、关节偏移误差、关节扭转角误差和零位误差等，合成后的校准误差为2.66 mm；机器人末端x、y、z方向的相对不确定度分别为0.09%、0.37%、0.46%。研究成果为机器人末端精准定位控制提供了技术参考。 |
| 英文摘要: |
| To study the nonlinear impact of calibration errors on the positioning accuracy of a robot's end?effector, a linkage analysis of end?effector pose calibration errors for a six?degree?of?freedom robot was conducted. Using the modified Denavit?Hartenberg model (MDH) constraints, a kinematic parameter model for a six?degree?of?freedom robot was established to analyze the spatial geometric relationships of the end?effector's pose transformation. The sources of robot calibration errors were examined, and the functional relationships between the coordinate systems of the measurement system were derived. Based on this, a calibration error propagation model for the robot's end?effector pose was constructed. A calibration system for a six?degree?of?freedom robot was set up to conduct experiments. Experimental results indicate that the primary sources of calibration error in robotic end?effector positioning include link length errors, joint offset errors, joint twist angle errors, and zero?position errors. The combined calibration error was measured as 2.66 mm, with relative uncertainties in the x, y, and z directions of 0.09%, 0.37% and 0.46% respectively. The research findings provide technical references for achieving precise positioning control of the robot's end?effector. |
| Author Name | Affiliation | | JIANG Wensong1, WANG Yan1, LUO Zai1, FENG Siqi1, YANG Li1, ZHANG Penghao2 | 1.College of Metrology Measurement & Instrument, China Jiliang University, Hangzhou 310018, China
2.AVIC Changcheng Institute of Metrology & Measurement, Beijing 100095, China |
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| 中文关键词: 几何量计量 机器人 末端定位 校准 误差链路分析 |
| 英文关键词:geometric metrology robot end⁃effector positioning calibration error linkage analysis |
| 基金项目: |
| DOI：10.11823/j.issn.1674-5795.2025.02.05 |
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