Kinematic model identification of industrial manipulators
Kinematic model identification of industrial manipulators
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DOI：
10.1016/s0736-5845(99)00038-1
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发表时间：
2000-02-01
影响因子：
10.4
通讯作者：
Whittaker, AR
中科院分区：
文献类型：
--
作者：
Abderrahim, M;Whittaker, AR
本文提出的工作的目的是提高离线编程能力的工业机器人，提高其精度。不是施加更严格的制造公差，而是广泛接受的是，识别特定于每个单独机器人的运动学参数的方法提供了提高精度的成本有效的方式。提出了一种识别实际运动学参数的方法，该方法利用Stone提出的旋转平面和旋转中心。该方法与Stone的方法不同之处在于，它利用了旋转半径，并且还引入了旋转平面沿着旋转轴的平移。这允许直接识别D-H模型参数，其比S模型参数更广泛地被接受并且更容易解释。结果表明，与Stone的原方法不同，新方法还可以处理两个连续关节轴平行的情况。仿真数据和真实的测量数据的Puma 560机器人的方法进行了验证，显示出约80%的定位精度的改善。(C)2000爱思唯尔科技有限公司版权所有。
The aim of the work presented in this paper is to improve the off-line programming capability of industrial robots by improving their accuracy. Rather than impose more strict manufacturing tolerances, it is widely accepted that a method of identifying kinematic parameters specific to each individual robot provides a cost effective way of improving accuracy. A procedure is presented for identification of actual kinematic parameters, which uses the plane of rotation and centre of rotation introduced by Stone. The procedure differs from that of Stone in that it makes use of the radius of rotation and also introduces a translation of the plane of rotation along the axis of rotation. This allows for the direct identification of the D-H model parameters which are more widely accepted and easier to interpret than the S model parameters. It is shown that, unlike the original method of Stone, the new procedure can also deal with the situation when two consecutive joint axes are parallel. The method is validated on both simulated data and real measured data for a Puma 560 robot, showing an improvement in positioning accuracy of around 80%. (C) 2000 Elsevier Science Ltd. All rights reserved.