大臂展空間機械臂運動學參數(shù)精確標定

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1、大臂展空間機械臂運動學參數(shù)精確標定 周偉剛;魏博;李輝;蔣志宏;黃強;唐自新;張曉東;劉雜 【期刊名稱】《載人航天》 【年(卷)，期】2016(022)004 【摘要】The geometric parameters of the arm and the flexibility will lead to a large error in the space manipulator. However, high positioning accuracy at the end of the robot arm is required in some space operations? In

2、 order to obtain the accuracy of the kinematic parameters a linear calibra-tion method for the robot kinematic parameters was presented in this paper. Taking a 7 degree of freedom space manipulator as the research object, a kinematic model of the robot was established by using the D-H modeling metho

3、d, and the kinematic error model was also established. The simulation experiments show that the calibration method has high accuracy, and the method is simple and easy to be applied in practice.%大臂展空間機械臂 z 由于臂桿 的幾何參數(shù)誤差及柔性等因素將會導(dǎo)致其末端定位產(chǎn)生很大誤差,然而在某些 空間作業(yè)時對機械臂末端定位精度要求較高，為了獲得其準確的運動學參數(shù)， 提出了一種線性標定機器人運動學參數(shù)的簡便方法。以一個7自由度空間機械 臂為研究對象，采用D-H建模方法建立了機器人運動學模型，基于該模型建立 了機器人運動學誤差模型，最后通過計算機器人末端的位姿誤差，標定了該機 器人的運動學參數(shù)。仿真實驗表明該標定方法有較高的精度,并且該方法操作 簡單、便于實際應(yīng)用。