Positioning Error Analysis and Kinematic Calibration of Robot Palletizer Based on One-Dimensional Cable Measurement System

被引：5
|
作者：
Mei J. [1 ]
Sun S. [1 ]
Luo Z. [2 ]
Chen L. [2 ]
机构：
[1] School of Mechanical Engineering, Tianjin University, Tianjin
[2] WAHAHA Mechanical and Electrical Engineering Institute, Hangzhou
来源：
Luo, Zhenjun (zhenjunluo@hotmail.com) | 2018年 / Tianjin University卷 / 51期
基金：
中国国家自然科学基金;
关键词：
Draw-wire displacement sensor; Kinematic calibration; Robot palletizer;
D O I：
10.11784/tdxbz201707053
中图分类号：
学科分类号：
摘要：
An example of a 4-DOF robot palletizer was applied to study the kinematic calibration method based on one-dimensional cable measurement system.The parallel four-connecting rods error model of robot palletizer was built by loop incremental method, and the kinematic error model with joint variable proportionality was established, which could compensate the error of joint transmission.The number of geometric error sources was reduced to 11 by analyzing the sensitivities of geometric error parameters to the position accuracy of robot, which could promote the efficiency of identification.The parameter identification model based on distance-measurement was proposed by building the mapping of end motion error and geometric error sources according to the characteristics of one-dimensional cable measurement system.The validity of the method is verified by computer simulation and calibration experiment.The experiment results show that the 3 sigma value of robot position error decreased from 11.73 mm to 1.79 mm after calibration, that is increased by 84.7%. © 2018, Editorial Board of Journal of Tianjin University(Science and Technology). All right reserved.
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收藏
页码：748 / 754
页数：6
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