摘要
针对传感器机器人运动指令执行误差大、运动轨迹定位精度低的问题,提出了一种运动位移定位误差补偿激光散斑测量方法。首先用激光散斑测量法测量目标的空间分布,得到目标位移前后激光散斑空间分布强度的两幅图像,然后用截面矩阵计算具体位置,突出实际位移值,然后建立定位误差模型,得到机器人关节的微分项,得到整个关节的零位角偏差,最后用集合分析法标定零位和减速比,完成运动位移定位误差的补偿。实验结果表明,该方法比传统方法能更快地补偿定位误差,均方误差在10-5左右,且误差曲线趋势完全拟合,补偿精度更高。
In order to solve the problems of significant error of motion command execution and low positioning accuracy of motion trajectory of sensor robot,a laser speckle measurement method with motion displacement positioning error compensation is proposed. Firstly,the spatial distribution of the target is obtained by the laser speckle method,and then the spatial distribution of the target is obtained by the laser speckle reduction method,complete the compensation of motion displacement positioning error. The experimental results show that the proposed method can compensate the positioning error faster than the traditional method,the mean square error is about 10-5,and the trend of the error curve is wholly fitted,and the compensation accuracy is higher.
作者
郑泽蒙
张璐
陈金鳌
ZHENG Zemeng;ZHANG Lu;CHEN Jinao(Kaili University,Kaili Guizhou 556011,China;Changzhou University,Changzhou Jiangsu 213164,China)
出处
《激光杂志》
CAS
北大核心
2021年第5期147-151,共5页
Laser Journal
基金
贵州省自然科学基金项目(No.18YJC890001)
江苏高校哲学社科研究基金项目(No.2018SJA1762)
贵州省体育局、贵州省教育厅-凯里学院联合基金项目(No.GZTY2019308)。
关键词
激光散斑
运动位移
误差补偿
零位标定
laser speckle
motion displacement
error compensation
zero calibration
