Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial
Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial
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DOI：
10.20965/ijat.2021.p0599
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
M. Alam;S. Ibaraki;Koki Fukuda
中科院分区：
文献类型：
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作者：
M. Alam;S. Ibaraki;Koki Fukuda
在先进的工业应用中，如机械加工，六轴机器人的绝对定位精度是必不可少的。为了提高工业机器人的绝对定位精度，基于Denavit和Hartenberg（D-H）模型的定位误差预测的数值补偿已被广泛研究。本研究的主要目的是回顾六轴工业机器人的运动学建模理论。本文以教程的形式，定义了基于旋转轴平均线位置和姿态的局部坐标系，并基于坐标变换理论推导了运动学模型。虽然目前的模型是等效的经典D-H模型，这项研究表明，一个不同的运动学模型可以推导出使用不同的定义的本地坐标系。随后，提出了一种算法来识别误差源包括在运动学模型的基础上的一组测得的末端执行器的位置。经典D-H参数的辨识表明了该运动学模型在提高机器人定位精度方面的实际工程应用。此外，本文提出了一个扩展本模型，包括每个旋转轴的角定位偏差。每个旋转轴的角定位偏差形成为轴的命令角和其旋转方向的函数，以模拟旋转轴间隙的影响。介绍了各旋转轴角定位偏差的识别及其数值补偿方法，并进行了沿着实验验证。本文为六轴机器人的误差源诊断和误差补偿提供了必要的理论依据。
In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has been investigated extensively. The main objective of this study is to review the kinematic modeling theory for a six-axis industrial robot. In the form of a tutorial, this paper defines a local coordinate system based on the position and orientation of the rotary axis average lines, as well as the derivation of the kinematic model based on the coordinate transformation theory. Although the present model is equivalent to the classical D-H model, this study shows that a different kinematic model can be derived using a different definition of the local coordinate systems. Subsequently, an algorithm is presented to identify the error sources included in the kinematic model based on a set of measured end-effector positions. The identification of the classical D-H parameters indicates a practical engineering application of the kinematic model for improving a robot’s positioning accuracy. Furthermore, this paper presents an extension of the present model, including the angular positioning deviation of each rotary axis. The angular positioning deviation of each rotary axis is formed as a function of the axis’ command angles and the direction of its rotation to model the effect of the rotary axis backlash. The identification of the angular positioning deviation of each rotary axis and its numerical compensation are presented, along with their experimental demonstration. This paper provides an essential theoretical basis for the error source diagnosis and error compensation of a six-axis robot.