基于线结构光传感器的工业机器人运动学参数标定

doi:10.3969/j.issn.1000-1158.2021.01.11

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Abstract Aiming at the problem of low absolute positioning accuracy of industrial robots, a method for calibration of industrial robot kinematic parameters based on line structured light sensor was proposed. Firstly, the line structure light sensor is fixedly mounted on the end of the robot, the sensor measurement model is established, and then the robot kinematics model is established. The sensor model and the robot model are connected by hand-eye relationship to form a complete calibration system model. Secondly, the line structured light sensor measures a fixed point in different poses to obtain the coordinate value of the point on the robot base. An error model is established to deviate the theoretical value from the actual value of the coordinate value, thereby establishing a calibration equation group, and using the least squares method to identify the kinematic parameter error and correct the parameters. Finally, by updating these parameters into the ideal kinematics model, the positional deviation between measurement points before and after calibration were compared. The experimental results show that the average error was reduced by more than 50%, the standard deviation was reduced by more than 42%.

Key words： metrology industrial robot line structured light sensor kinematic parameter robot calibration

Received: 18 April 2019 Published: 19 January 2021

PACS:	TB92
	TP242.2

Corresponding Authors: Yi LU E-mail: luyi9798paper@163.com

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	LU Yi
	SHEN Tian-xiu
	LUO Zai
	GUO Bin

Cite this article:

LU Yi,SHEN Tian-xiu,LUO Zai, et al. Calibration of Industrial Robot Kinematic Parameters Based on Line Structured Light Sensor[J]. Acta Metrologica Sinica, 2021, 42(1): 66-71.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2021.01.11 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2021/V42/I1/66

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