CAJ | 학술논문

在充分调研国内外机器人标定方法的基础上，提出了一种基于激光跟踪仪的机器人标定的方法，即直接标定法。运用微分变换方法建立了六自由度模块化机器人误差模型，并对建立的误差模型进行验证。利用激光跟踪仪直接测量机器人位姿进行标定试验，确定机器人末端位姿与运动学参数误差的关系，把得到的机器人运动学几何参数偏差补偿到控制系统软件中，对其中的运动学方程加以修正，然后对机器人进行二次标定。标定前后数据对比证明，机器人运动精度提升了50%。
재충분조연국내외궤기인표정방법적기출상，제출료일충기우격광근종의적궤기인표정적방법，즉직접표정법。운용미분변환방법건립료륙자유도모괴화궤기인오차모형，병대건립적오차모형진행험증。이용격광근종의직접측량궤기인위자진행표정시험，학정궤기인말단위자여운동학삼수오차적관계，파득도적궤기인운동학궤하삼수편차보상도공제계통연건중，대기중적운동학방정가이수정，연후대궤기인진행이차표정。표정전후수거대비증명，궤기인운동정도제승료50%。
On the basis of the full research on domestic and overseas calibration methods of robots,a robot calibration method based on laser tracker is proposed,and it is named the direct calibration method.Use differential transform method to establish six degrees of freedom of the modular robot error model,and verify the error model.Use laser tracker directly measure the position and posture to do robot calibration experiment,determine the relationship of the position and posture of the end of the robot and the error of kinematics parameter.Put the error of robot kinematics geometry parameters into the control system software to compensate the original values,on which the kinematics equation is modified.Then we calibrate the robot in the second time.The contrast of data before and after calibrating proves that the robot motion accuracy has in-creased by 50%.