Kinematic parameter identification for 6R serial robots based on a 6-parameter model

被引：0
作者：
School of Mechanical Engineering, Dalian University of Technology, Dalian [1 ]
116024, China
机构：
[1] School of Mechanical Engineering, Dalian University of Technology, Dalian
来源：
Jiqiren | / 4卷 / 486-492期
关键词：
Industrial robot; Parameter identification; Structural error;
D O I：
10.13973/j.cnki.robot.2015.0486
中图分类号：
学科分类号：
摘要：
To avoid discontinuous parameters and low-speed convergence in kinematic parameter error identification, an error model for 6R serial robots based on a 6-parameter model is established in the link coordinate systems set up with DH (Denavit-Hartenberg) method. A formula for parameter conversion is derived. In order to compare the results produced by the MDH (modified DH) model and the 6-parameter model, a computer simulation experiment in presence of random noise errors in drives and measuring instruments is designed. The average absolute error is decreased by 96.1% and 52.9% respectively by using the 6-parameter model and the MDH model. The results show that the 6-parameter model has completeness and continuity. The range of model parameters can be derived from the manufacturing tolerances. The 6-parameter model is superior to the MDH model in terms of identification speed. By limiting the parameter range, the influence of lack-ofminimality on error identification is eliminated. The method is applied to parameter identification of an SR165 robot, and the average positioning error is reduced from 2.5 mm to 0.35 mm. ©, 2015, Chinese Academy of Sciences. All right reserved.
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页码：486 / 492
页数：6
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