| 六自由度机器人末端位姿校准误差链路分析 |
| Analysis of calibration error propagation in the kinematic chain of a six-DOF robotic manipulator's end-effector pose |
| 投稿时间：2024-11-25 修订日期：2025-02-03 |
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| 中文摘要: |
| 为研究校准误差对机器人末端定位精度的非线性影响，开展六自由度机器人末端位姿校准误差链路分析。采用修正的DH模型 (Modified Denavit-Hartenberg Model, MDH)约束条件建立六自由度机器人的运动学参数模型，分析末端位姿变换的空间几何特征关系；分析机器人校准误差的来源，得到测量系统各坐标系之间的函数关系，构建机器人末端位姿校准误差传递链路模型。搭建六自由度机器人校准系统开展实验，结果表明：机器人末端校准误差主要来源包括连杆长度误差、关节偏移误差、关节扭转角误差和零位误差等，合成后的校准误差为2.66 mm；机器人末端x、y、z方向的相对不确定度分别为0.09%、0.37%、0.46%。研究成果为机器人末端精准定位控制提供了技术参考。 |
| 英文摘要: |
| To study the nonlinear impact of calibration errors on the positioning accuracy of a robot's end-effector, a linkage analysis of end-effector pose calibration errors for a six-degree-of-freedom robot is conducted. Using the Modified Denavit-Hartenberg Model (MDH) constraints, a kinematic parameter model for a six-degree-of-freedom robot is established to analyze the spatial geometric relationships of the end-effector's pose transformation. The sources of robot calibration errors are examined, and the functional relationships between the coordinate systems of the measurement system are derived. Based on this, a calibration error propagation model for the robot's end-effector pose is constructed. A calibration system for a six-degree-of-freedom robot was set up to conduct experiments. Experimental results indicate that the primary sources of calibration error in robotic end-effector positioning include link length errors, joint offset errors, joint twist angle errors, and zero-position errors. The combined calibration error was measured as 2.66 mm, with relative uncertainties in the x, y, and z directions of 0.09%, 0.37%, and 0.46%, respectively. The research findings provide technical references for achieving precise positioning control of the robot's end-effector. |
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| 中文关键词: 几何量计量 机器人 末端定位 校准 误差链路分析 |
| 英文关键词:Geometric Metrology, Robot, End-Effector Positioning, Calibration, Error Linkage Analysis |
| 基金项目:国家重点基础研究发展计划（973计划）,国家自然科学基金项目（面上项目，重点项目，重大项目） |
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