Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula
Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula
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DOI：
10.1109/tro.2010.2047529
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发表时间：
2010-06-01
影响因子：
7.8
通讯作者：
Yang, Shuzi
中科院分区：
文献类型：
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作者：
He, Ruibo;Zhao, Yingjun;Yang, Shuzi
提出了一种基于指数乘积(POES)公式的串联式机器人标定通用误差模型。分析了该误差模型中参数的可辨识性。分析表明：1)所有关节扭转中的错误都是可以识别的。2)当联合零位误差和初始变换误差包含在同一误差模型中时，它们不能被识别。在有或无这两种情况下，分别得到了三种实用的误差模型。当满足以下条件时，关节零位误差是可识别的：关节扭转的坐标是线性无关的。3)对于n自由度通用串联机器人，可辨识参数的最大数目为6n+6。仿真结果表明：1)可识别参数的最大个数为6r+3t+6，其中r为转动副的个数，t为转动副的个数。2)利用三种误差模型分别辨识了选择性柔顺装配机械臂(SCARA)机器人和可编程通用装配机械臂(PUMA)560机器人的全部运动学参数。基于POE公式建立的误差模型可以作为串联机器人标定的完整、最小、连续的运动学模型。
This paper presents a generic error model, which is based on the product of exponentials (POEs) formula, for serial-robot calibration. The identifiability of parameters in this error model was analyzed. The analysis shows the following: 1) Errors in all joint twists are identifiable. 2) The joint zero-position errors and the initial transformation errors cannot be identified when they are involved in the same error model. With either or neither of them, three practicable error models were obtained. The joint zero-position errors are identifiable when the following condition is satisfied: Coordinates of joint twists are linearly independent. 3) The maximum number of identifiable parameters is 6n + 6 for an n-degree-of-freedom (DOF) generic serial robot. Simulation results show the following: 1) The maximum number of identifiable parameters is 6r + 3t + 6, where r is the number of revolute joints, and t is the number of prismatic joints. 2) All the kinematic parameters of the selective compliant assembly robot arm (SCARA) robot and programmable universal machine for assembly (PUMA) 560 robots were identified by using the three error models, respectively. The error model based on the POE formula can be a complete, minimal, and continuous kinematic model for serial-robot calibration.