摘要
随着我国经济科技的迅速发展,工业机器人在各产业得到了广泛应用。机器人工具坐标系影响运动准确性,随着机器人在工业生产中完成任务的繁杂化,人们对工业机器人位姿精度的要求不断提高。机器人标定是离线编程技术实用化的关键技术,文章基于模型参数识别法辨识机器人模型参数,从而提高绝对精度。工业机器人重复精度较高,需要进行运动学标定来提高绝对精度。基于此,阐述工业机器人运动学标定理论,介绍零点标定方法,开展零点标定计算机仿真实验,通过激光追踪仪验证零点标定实验效果。
With the rapid development of China’s economy and technology,industrial robots have been widely used in various industries in recent years.The coordinate system of robot tools affects the accuracy of motion.With the complexity of tasks completed by robots in industrial production,the requirements for the pose accuracy of industrial robots continue to increase.Robot calibration is a key technology for the practical application of offline programming technology,which is the application of model parameter recognition method to identify accurate parameters of robot models and improve absolute accuracy.Industrial robots have high repeatability,so kinematics calibration is needed to improve absolute accuracy.The theory of industrial robot kinematics calibration is studied and expounded,the zero calibration method is introduced,the computer simulation experiment of zero calibration is carried out,and the experimental effect of zero calibration is verified through the laser tracker.
作者
赵远情
高东
谭宁
范乃吉
ZHAO Yuanqing;GAO Dong;TAN Ning;FAN Naiji(Laser Fusion Research Center of China Academy of Engineering Physics,Mianyang 621999)
出处
《现代制造技术与装备》
2023年第5期171-173,共3页
Modern Manufacturing Technology and Equipment
关键词
工业机器人
零点标定
机械运动
industrial robots
zero calibration
mechanical movement
