6R型工业机器人标定算法与实验研究

华中科技大学硕士学位论文6R型工业机器人标定算法与实验研究姓名：南小海申请学位级别：硕士专业：机械电子工程指导教师：杨文玉20080524I6RD-HMatlabMatlab;;;;IIAbstractNowadays,therepeatabilityaccuracyoftherobotproducedbyrobotmanufacturersisveryhigh,whileitsabsoluteaccuracyisverylow.Astherobotoff-lineprogrammingisappliedwidely,it’sakeytechniquetoimprovetherobotabsoluteaccuracy.Akinematicscalibrationmethodisdesigned,thatitadoptsadvancedlasertrackingmeasurementsystemandmodel-basedparameteridentificationtoidentifytheaccurateparametersofa6Rweldingrobotandincreasetheabsoluteaccuracy.Atfirst,aimingattheindustrialrobotcalibrationandcombiningtherobot'srealgeometricalstructure,thelinkcoordinatessystemoftherobotisestablishedbyD-Hmethod.Onthisbasis,detailedkinematicsandkinematicsinversesolutionsarecalculated,andtheJacobianmatrixisalsosolved.Then,simulationtestforthekinematicsequationistakenwithMatlablanguage.Throughcomparingthetestresultandthelocationdataintherobotcontroller,thevalidityoftheestablishedkinematicsmodelhasbeenproved.Aimingattherobot'sgeometricalstructure,theerrorsourcesinfluencingtherobot'sabsoluteaccuracyareanalyzed.Adoptinganoptimizedkinematicsmodelandthedifferentialtransformmethod,theerrormodelfortherobotcalibrationissolved,andthecalculationprogramsaredesignedbasedonMatlablanguageandleastsquaresalgorithm.Throughdesigningasimulationtestfortheerrormodel,thereliabilityofthemodelhasbeenproved.Finally,threecalibrationschemesaredesignedonthebasisoferrormodel,includingthemeasurebasedonthestandardhole,standardplaneandlasertracking.Theiradvantageandshortagearecomparedandanalysedfromthemethodtheory,datacollectionandcalibrationresult,respectively.Aftercompensatingthekinematicsparameterserrorintotherobotcontroller,throughmeasuringandanalyzingtherobotend-location,thecalibrationmethodimprovingtherobotabsoluteaccuracyhasbeenproved.Keywords:Industrialrobot;Kinematics;Absoluteaccuracy;Calibration;Errormodel111.19732006CB70540042006CB70540411.2207010045%35%[1]20[2,3]2Reis1.1(a)(b)(c)1.111Reis11.31.3.11.D-H3D-HHayati[4]Judd[5]MDH11,(,)()(,)*(,)(,)iiiiiiiiiiiARotZTransZdTransXRotXRotYθααβ−−=∗∗∗StoneS[6](S-model)D-HSD-H()()()()()()1111,*,*,*,*,*,iiiiiiiiiiiARotZTransZdRotZTransZdTransXRotXβθαα−−−−=Driels[7]D-H6CPC(CompleteandParametricallyContinuousKinematicModel)ZhuangHanqi[8]Schroer[9]Sheth[10](ShapeMatrixModel)[11](Zero-referencepositionmodel)Chen[12](product-of-exponentials,POE)(1)4(2)Morris[13]Fraczek[14]56(3)(4)(1)(2)(3)[15]581[16]Levenberg-Marquardt[17][18](1)(2)5Omodei[17]5Renders[19]Abderrahim[20]SPUMA560Horning[21]MotomanP8Newton-RaphsonN-R2.6Bennett[22]Wampler[23]Zhong[24]Yang[25]StewartZhuang[26]Stewart6Roy[27]RWIB21Zhuang[28]/1.3.2[29]V01[30]7[31]D-HRMA-I[32][33]1.4Reis8ReisD-HMATLAB926R2.1,[34]6R2.2RV-16ReisRV-162.1Reis6R6Axis1Axis2Axis3Axis4Axis5Axis62.1ReisRV-16231456Axis1()Axis2()Axis3()Axis4Axis5Axis6102.2.1616kg0.05mm230kg3.6KVA1-1801502-125303-1201504-2102105-1231236-3603601140/s2140/s3140/s4270/s5270/s6400/s2.2.22.166631~31(θ1)2(θ2)3(θ3)1133456456RV-162.27151970232153571230702.2RV-162.2.3ReisReis2.3(CAD)122.3RV-162.3ReisDenavitHartenberg195644[35]012ii-1iiii+1D-Hz{i}ziziz(1)iiz1iz+i+1iz1iz+2iz+(2)i-1iiz1iz−io1iz−izioiz13(1)1iz−iz1iz−iz1iioo−=1iz−iz1io−1iz−izizio(2)1iz−0o0o0z1z01oo=0z1z0o0z1zx1ix−1iz−iz1iz−iz(1)1iz−iz1iioo−=1ix−1ix−ix(2)1iz−iz11()iiixzz−−=±×x(3)0i=00o=0o0z1z0x1xyiiizxy=×2.4Z1Z2X2X3Z3Y0X0Y2Y3Z0Y1X1d4a1X4Z4Z5Y5Z6Y4Y6X6X5a21θ2θ3θ4θ5θ6θ2.4RV-16614i-1i41ia−1iz−iz1ix−1ix−1iα−1iz−iz1ix−1ix−id1ix−ixiziziθ1ix−ixiziz11,,iiiadα−−iθ2.5D-HReis2.1i-1i-1iizi-1yi-1xi-1i-1ai-1diziyixiiai2.5D-H2.1RV-16i1ia−1iα−idiθ10001(0)θ°1θ21a-9002(-90)θ°2θ32a003(0)θ°3θ40-904d4(0)θ°4θ509005(0)θ°5θ60-9006(0)θ°6θ124280615540ammammdmm===15(1)i-11iz−iz1ia−1iα−1iz−iziiz1ix−ixidiθ1ix−ix(2)1ia−1iα−idiθiiidiθiidiθ411,,iiiadα−−iθi-1ii-1i(1)1ix−1iα−1iz−iz(2)1ix−1ia−1iz−iz(3)iziθ1ix−ix(4)izidii-1i-1i1iiT−111(,)(,)(,)(,)iiiiiiTRotxTransxRotzTranszadαθ−−−=111111111111000100001000000100000100000010001000100010001000100010iiiiiiiiiiiiiiiiiiiiiiiiacscsscscdcsascccsdssscsθθααθθααθθθαθαααθαθα−−−−−−−−−−−−−=−−−=1110001iiicdcαα−−−(2.1)461861θ6θ162.42.4.1D-H6[36]111101cossin00sincos0000100001Tθθθθ−=2211222cossin00010sincos000001aTθθθθ−=−−3323323cossin0sincos0000100001aTθθθθ−=4443444cossin00001sincos000001dTθθθθ−=−−554555cossin000010sincos000001Tθθθθ−−=665666cossin000010sincos000001Tθθθθ−=−−00123456123456TTTTTTT=(2.2)06T060001noapT=(2.3)2.112345614561235612346146123456145612356123461462345623562346CCCCCSSCCCSSCCCSSSCSnSCCCCCSCCSSSCSCSSCCSSCCCCSCSSS+−−+=−−−−−−+12345614561235612346146123456145612356123461462345623562346CCCCSSSCSCSSSCCSCSCCoSCCCSCSCSSSSSSCSCCCCSCCSCSSSSC−−+−+=−++−−++171234514512351234514512352345235CCCSSSSCSCaSCCSCSSSSCSCSCC−−−=−+−−41231121241231121242322dCSaCaCCpdSSaSaSCdCaS−++=−++−−(2.4)cosiiCθ=siniiSθ=cos()ijijCθθ=+sin()ijijSθθ=+1280amm=2615amm=4540dmm=2.4.2633Reis456[34,36]Paul(1)00123456123456TTTTTTT=(2)01T-1001