CLC number: TP242.2
On-line Access: 2023-02-27
Received: 2022-04-27
Revision Accepted: 2023-02-27
Crosschecked: 2022-09-04
Cited: 0
Clicked: 895
Citations: Bibtex RefMan EndNote GB/T7714
Ziwei WAN, Chunlin ZHOU, Haotian ZHANG, Jun WU. Development of an onsite calibration device forrobot manipulators[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2200172 @article{title="Development of an onsite calibration device forrobot manipulators", %0 Journal Article TY - JOUR
一种机械臂在线标定装置开发1浙江大学控制科学与工程学院,中国杭州市,310063 2浙江大学湖州研究院,中国湖州市,313098 3浙江大学滨江研究院,中国杭州市,310014 4电子科技大学信息与软件工程学院,中国成都市,610054 摘要:提出一种名为MultiCal的新型接触式三维测量装置,可用于机械臂的现场标定和在线精度测量,具有使用方便、成本低(低于5000美元)、性能可靠等优点。该设备可灵活地设置在机械臂的工作环境中进行微米级精度三维测量。在标定过程中,通过一个三维位移测量装置,让机械臂的工具中心点运动至一个固定点,之后再绕该点旋转运动至不同姿态角并测量各关节角度(单点约束测量)。然后采用一个创新设计的夹具,将三维位移测量装置精确地安装在该夹具的不同工位上,并重复上述测量过程,从而实现多点约束测量。夹具上不同工位的相对位置在标定前已被精确测量,并作为标定的先验信息,以提高标定的精度与鲁棒性。理论分析表明,在相同水平的测量误差下,MultiCal的理论标定精度与传统的非接触式三维或六维测量设备(如激光跟踪器)相比降低10%-20%。而在Staubli TX90机械臂上进行的实际标定实验结果表明,MultiCal实际标定精度仅比带激光扫描仪的测量臂低7%-14%,时间效率比六维双目视觉测量系统低21%-30%,标定后的机械臂的最大和平均绝对定位误差分别为0.831 mm和0.339 mm。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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