| 绳驱动连续体机器人标定方法 |
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| 引用本文： | 李法民,郑天江,沈雯钧,王会肖,方灶军,梁冬泰. 绳驱动连续体机器人标定方法[J]. 中国机械工程, 2022, 33(2): 202-208. DOI: 10.3969/j.issn.1004-132X.2022.02.010 |
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| 作者姓名： | 李法民 郑天江 沈雯钧 王会肖 方灶军 梁冬泰 |
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| 作者单位： | 1.宁波大学机械工程与力学学院，宁波，3152112.中国科学院宁波材料技术与工程研究所,宁波，3152013.浙江省机器人与智能制造装备技术重点实验室,宁波，315201 |
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| 基金项目： | 国家自然科学基金（51705510)；国家自然科学基金浙江两化融合联合基金(U1909215）；宁波市2025重大专项(2018B10058)；宁波市科技创新2025重大专项（2018B10069）；新一代机器人核心部件关键技术创新团队（2016B10016）；中国科学院战略性先导科技专项（A类）（XDA22000000) |
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| 摘 要： | 为提高绳驱动连续体机器人的定位精度,提出了一种针对此类机器人的误差标定与补偿方法.该方法利用指数积(POE)公式建立连续体机器人关节模块的运动学模型,并利用运动学模型推导出误差传递模型.针对误差模型采用最小二乘方法进行误差的辨识,将辨识后的误差补偿至机器人的运动学模型,从而提高机器人关节模块的模型精度.制作了基于柔性支...
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| 关 键 词： | 绳驱动 连续体机器人 运动学标定 误差模型 运动学建模 |
Calibration Method for Cable-driven Continuum Robots |
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| LI Famin,ZHENG Tianjiang,SHEN Wenjun,WANG Huixiao,FANG Zaojun,LIANG Dongtai. Calibration Method for Cable-driven Continuum Robots[J]. China Mechanical Engineering, 2022, 33(2): 202-208. DOI: 10.3969/j.issn.1004-132X.2022.02.010 |
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| Authors: | LI Famin ZHENG Tianjiang SHEN Wenjun WANG Huixiao FANG Zaojun LIANG Dongtai |
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| Affiliation: | 1.Faculty of Mechanical Engineering & Mechanics,Ningbo University,Ningbo,Zhejiang,3152112.Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo,Zhejiang,3152013.Key Laboratory of Robotics and Intelligent Equipment Technology of Zhejiang Province,Ningbo,Zhejiang,315201 |
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| Abstract: | In order to improve the positioning accuracy of the cable-driven continuum robots, an error calibration and compensation method was proposed for the cable-driven continuum robot modules(CDCRMs). The product-of-exponential(POE) formula was employed to develop the kinematics model for the CDCRMs. The kinematics error transfer model was derived through the kinematics model, which was used to identify the kinematics errors by using the least-squared algorithm. Identified errors were used to compensate the kinematics model, thus the accuracy of the CDCRMs was improved. A prototype of a CDCRM with a flexible backbone was made to verify the calibration algorithm by simulation and experiments. The results show that the position accuracy of the CDCRMs is improved by 32.23% and the orientation accuracy is improved by 81.64%, which prove the effectiveness of the calibration algorithm. |
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| Keywords: | cable-driven continuum robot kinematics calibration error model kinematics modeling |
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