A parameter calibration method for manipulators based on laser displacement measurement

被引：0

作者：

Shao X. ^{[1
]}

Ji L. ^{[1
]}

Zou H. ^{[2
]}

Xie Y. ^{[1
]}

机构：

[1] School of Mechatronics Engineering and Automation, Shanghai University, Shanghai

[2] Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2022年 / 48卷 / 11期

基金：

上海市自然科学基金;

关键词：

combined constraints; kinematic parameter calibration; laser displacement measurement; manipulators; nonlinear optimization;

D O I：

10.13700/j.bh.1001-5965.2021.0093

中图分类号：

学科分类号：

摘要：

The traditional method of robot parameter target usually requires an expensive equipment, and the technical realization cost is high, a novel low-cost calibration method for manipulators is proposed, which utilizes a laser displacement sensor installed on the end of the manipulator to measure the relative position of the manipulator end with respect to an external cubic reference. A kinematic parameter calibration is designed for a 6 degree of freedom manipulator. Based on single-dimensional measurements, the error function is constructed with combined consideration of plane flatness and plane angles, and further minimized with a nonlinear optimization method to obtain the final calibration results. The proposed method is testified on an experimental system and compared with the calibration by a laser tracker. Results show that this method has similar calibration accuracy to the methods using expensive external measurement devices and provides a handy and cheap solution to manipulator calibration. © 2022 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.

引用

页码：2281 / 2288

页数：7

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