机器人的位姿标定及其误差补偿

本文用建立机器人目标空间转换矩阵的方法,通过对机器人几点位姿的标定,从而补偿这几点及以这几点为中心的小区域的误差.这种方法简便实用,仅用标定和增加一些软件的方法可使工业机器人位姿精度大大提高.

ROBOT POSITION CALIBRATION AND ERROR COMPENSATION

There are a number of factors which may contribute to robot position error. For industrial applica-tion, it is reasonable to have high position precision on a few work points instead of having high precisionall over the work space that may be costly. This paper presents a method of calibrating and compensatingfor the positioning error of robot manipulator in working area. A new objective coordinate transformationmatrix is established based on robot position calibration. A relatively simple algorithm is developed forcompensating position error in subarea within the robot envelope. Simulation results show that the posi-tioning accuracy of a robot manipulator can be substantially improved in calibrated points and small areaaround. It is a simple and realistic way to synthetically compensate robot position errors in finite workingpoints.