6-THRT并联机器人的标定研究
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摘要
为了提高6-THRT型并联机器人的末端位姿精度，需要对其进行运动学标定。在本文中，基于D-H法建立了理想和实际运动学模型。提出了一种基于附加中心轴测量机构的位姿测量方法，实现对并联机器人运动平台位置和姿态的直接测量；分析了测量机构的特点和误差来源，建立了测量模型，获得了位姿显示解。通过运动学反解模型建立目标函数，利用最小二乘辨识算法，来识别并联机器人的实际结构参数。数值仿真结果表明上述位姿测量方法测量精度高，基于该位姿测量方法的标定算法能够快速、有效地辨识出并联机器人的实际结构参数，标定效果好。
In order to improve the accuracy of the 6-THRT parallel manipulator, kinematic calibration is needed. In this paper, Using the D-H (Denavit-Hartenberg) establish the ideal and actual kinematic model. A method of pose measurement is present by a additional central measure-axle. It is used to directly measure the position and orientations of the parallel manipulator. Making an Analysis about source of errors and the characteristic of the measurement mechanism. The explicit formulation of the 6-THRT parallel manipulator is given by the measurement model. Establishing a goal function through reverse kinematic model. Using the iterative least squares algorithm to identify the actual structural parameter of the parallel manipulator. The results of computer simulation for kinematic calibration of the parallel robot shown that the measurement precision of the measurement mechanism is better ,and that the actual structural parameter of the parallel manipulator can be fast and efficiently identified by the method of c
alibration.
In order to improve the accuracy of the 6-THRT parallel manipulator, kinematic calibration is needed. In this paper, Using the D-H (Denavit-Hartenberg) establish the ideal and actual kinematic model. A method of pose measurement is present by a additional central measure-axle. It is used to directly measure the position and orientations of the parallel manipulator. Making an Analysis about source of errors and the characteristic of the measurement mechanism. The explicit formulation of the 6-THRT parallel manipulator is given by the measurement model. Establishing a goal function through reverse kinematic model. Using the iterative least squares algorithm to identify the actual structural parameter of the parallel manipulator. The results of computer simulation for kinematic calibration of the parallel robot shown that the measurement precision of the measurement mechanism is better ,and that the actual structural parameter of the parallel manipulator can be fast and efficiently identified by the method of c
alibration.
引文
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[15] Zhuang H. Self-calibtation of paratlel mechanisms with a case study on Stewart platforms. IEEE Trans. Robotics and Automation, 1997, 13(3):387-397
[16] Geng Z J, Haynes L S. An effective kinematic calibration method for Stewart platforms. Intelligent automation and soft computing. In: Jamshidi M, et al eds. Albuquerque, NM: TSI Press, 1993
[17] Zhuang H, et al Caliibration of Stewart platforms and other parallel manipulations by minimizing inverse kinematic residuals. Int. J. Robot. Syst., 1998. 15: 395—405
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[22] H. Zhuang, O. Nasory, and J. Yan, "Kinematic calibration of Stewart platforms using pose measurements obtained by a single theodolite," in Proc. IEEE/RSJ IROS 1995, vol. Ⅱ, pp. 329-335.
[23] 孙华德，陈五一，陈鼎昌．用激光跟踪仪标定并联机床的理论探讨．机床与液压．2002(5)：16-18
[24] 史长虹，张同庄，张建民，丁洪生．变轴数控机床面向对象逆运动学标定法．机床与液压．2001(6)：25-26
[25] 刘报宇，陈英林，曲道奎，徐方．机器人标定技术研究．机器人．2002(9)：447-450．
[26] J. Wang, O. Masory, and H. Zhuang, "On the accuracy of Stewart platform—Part Ⅰand Ⅱ," IEEE Int. Conf. Robot. Automat., Atlanta, GA, 1993, vol. 1, pp. 114-120 and vol. 1, pp. 725-731.
[27] Timo Roppone, Tatsuo Arai. Accuracy Analysis of a Modified Stewart Platform Manipulator. IEEE International Conference on Robotics and Automation. 1995
[28) 汪劲松，白杰文，高猛，郑浩峻，李铁民．Stewart平台铰链间隙的精度分析．清华大学学报(自然科学版)．2002(6)：758-761
[29] 苏玉鑫，段宝岩．六自由度Stewart平台运动精度分析．西安电子科技大学学报．2000(4)：401-403
[30] 王旭永，骆涵秀．六自由度并联驱动平台机构的位置姿态精度控制．仪器仪表学报．1997(6)：596-600
[31] 韩先国，陈五一，郭卫东．采用冗余驱动提高并联机床精度的研究．航空学报．2002(5)
[32] 方跃法，房海蓉，牟建斌．并联机器人误差敏感系数及其在工作空间内的分布．北方交通大学学报．2002(4)：38-42
[33] 邹豪，赵明扬．并联Stewart机构位姿误差分析．东北大学学报．2000(3)：301-304
[34] 吕崇耀，熊有伦．Stewart并行机构位姿误差分析．华中理工大学学报．1999(8)：4-6
[35] 五轴并联铣床设计与误差建模及相干问题酌研究．中国科学院沈阳自动化研究所博士论文
[36] 吴江宁，左爱秋，李世伦．并联六自由度平台机构机械误差分析与检测．中国机械工程．1999(6)：614～616
[37] 袁剑雄，王知行，李兵．Stewart平台结构设计．哈尔滨理工大学学报．2000(1)：87-90
[38] 周冰．Stewart平台并联机器人设计与干涉防护问题研究．西安交通大学博士论文
[39] 乔俊伟．6自由度并联平台结构参数优化．机械设计．2000(3)：44-46
[40] 金振林，赵现朝．基于6—PSS正交并联机构的新型微操作机器人的位置分析．燕山大学学报．2002(1)：23-26
[41] 郭祖华，陈五一，陈鼎昌．6杆并联机构运动学及杆受力的仿真．北京航空航天大学学报2001(1)：101-104
[42] 董彦良，吴盛林．一种实用的6-6Stewart平台的实时位置正解法．哈尔滨工业大学学报．2002(1)：116-119
[43] 吕崇耀．6-6SPS6自由度Stewart并行机构位姿正解单解存在条件．机器人．2000(2)：148-153
[44] 吴盛林，由俊生．一种基于附加传感器实时解析的6—6Stewart平台位置正解法．机床与液压．2001(6)：44-45
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