%0 Journal Article
%T 考虑关节刚度的轻型模块化机器人标定方法<br>Calibration Method for Lightweight Modular Robot with Joint Stiffness Taken into Account
%A 田聚峰
%A 王攀峰
%A 刘世博
%A 王振泽
%J 机械科学与技术
%D 2018
%X 轻型模块化机器人多采用谐波减速器驱动，谐波减速器的刚度低且具有高度非线性特征，因此难以采用线性参数辨识的方法获取关节刚度，故提出一种新的标定方法以提高机器人定位精度。首先，基于谐波减速器刚度特性曲线，建立机器人静刚度误差模型；然后利用激光跟踪仪测量机器人位置得到综合误差；之后，采用静刚度误差模型预估由于关节刚度引起的误差并从综合误差中分离；最后，采用最小二乘方法辨识实际D-H参数，结合刚度误差模型实时预估机器人末端误差并加以补偿。实验结果表明，该方法能够有效提高该类机器人的定位精度。<br>The lightweight modular robot is mostly driven by harmonic reducer, and the stiffness of the reducer is relatively low and highly nonlinear. Therefore it is difficult to obtain joint stiffness parameters by linear identification, so a new calibration method is proposed in this paper to improve position accuracy of the robot. Firstly, the static stiffness error model of the robot is established by the stiffness characteristic curve of the harmonic reducer; Then comprehensive position error of the robot is measured using a laser tracker; Next, the error due to joint stiffness is estimated using the static stiffness error model and separated from the comprehensive error; Finally, the actual Denavit-Hartenberg parameters are identified using the least squares method, and the terminal error of the robot is estimated and compensated in real-time combining the stiffness error model. The experimental results show that this method can improve positioning accuracy of the robot effectively
%K 机器人
%K 标定
%K 关节刚度
%K 辨识&lt
%K br&gt
%K robot
%K calibration
%K joint stiffness
%K identification
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract7092.shtml