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机械臂全工作空间域非参数约束位姿误差估算

Estimation of pose errors with non-parametric constraint of manipulator in entire workspace domain

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摘要

针对机械臂全工作空间域位姿误差估算,提出了非参数化约束的运动学误差综合解算与动态估算方法。基于误差等效微分变量和多关节运动的连杆坐标系误差等效微分变换,构建了机械臂运动学动态非参数化约束的位姿误差模型。将多因素产生末端位姿误差归结为与关节转角变量有关的周期性动态函数变化,实现了机械臂综合误差的动态函数化描述。根据多连杆坐标系关节运动耦合规律,设计了多关节运动空间坐标系位姿在线解耦变换与补偿算法。全工作空间域验证实验中,误差估算值与测量值之间的位置坐标的最大绝对值偏差小于0.01 mm,姿态角的最大绝对值偏差小于0.03°。实验结果表明,该方法可提高机械臂全工作空间域位姿误差估算的精度与可靠性。

Abstract

The methods for obtaining the solutions to kinematics error with nonparametric constraint and dynamic estimation were proposed herein to estimate the position and orientation of a manipulator in the entire workspace domain. The pose error model of dynamic nonparameterized constraint of manipulator was constructed based on the equivalent differential transformation of the link system, which in turn was based on the error equivalent differential variable and multi-joint motion. This study presented a dynamic functional description of the comprehensive error of the manipulator as the periodic dynamic function related to the joint angle variable was changed. Online decoupling transformation and compensation algorithm of a multi-joint motion space coordinate system were designed in accordance with the coupling law of joint motion of multilink coordinate systems. Verification experiments performed in the entire workspace domain reveal that the error estimation and measured values of the coordinates between the positions have maximum absolute deviations less than 0.01 mm, while the absolute deviation of the orientation angle is less than 0.03°. The experimental results indicate that this method can improve the accuracy and reliability of error estimation in the entire workspace domain.

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中图分类号:TN247;TH72

DOI:10.3788/ope.20182610.2430

所属栏目:微纳技术与精密机械

基金项目:中国科学院STS计划资助项目((No. KFJ-SW-STS-154);河南省重点科技攻关项目(No.162102310365);河南省高等学校重点科研项目(No.1913510002)

收稿日期:2018-01-15

修改稿日期:2018-03-30

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杨聚庆:北京工业大学 应用数理学院,北京 100124中国科学院 光电研究院,北京 100094
王大勇:北京工业大学 应用数理学院,北京 100124
董登峰:中国科学院 光电研究院,北京 100094
程 智:中国科学院 光电研究院,北京 100094
劳达宝:中国科学院 光电研究院,北京 100094
周维虎:中国科学院 光电研究院,北京 100094

联系人作者:杨聚庆(yangjuqing@aoe.ac.cn)

备注:杨聚庆(1972-),男,河南南阳人,博士研究生,副教授, 1995年于西安工业大学获得学士学位,2007年于华中科技大学获得硕士学位,主要研究方向为机器人控制、激光测量及光电测控技术。

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引用该论文

YANG Ju-qing,WANG Da-yong,DONG Deng-feng,CHENG Zhi,LAO Da-bao,ZHOU Wei-hu. Estimation of pose errors with non-parametric constraint of manipulator in entire workspace domain[J]. Optics and Precision Engineering, 2018, 26(10): 2430-2437

杨聚庆,王大勇,董登峰,程 智,劳达宝,周维虎. 机械臂全工作空间域非参数约束位姿误差估算[J]. 光学 精密工程, 2018, 26(10): 2430-2437

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