摘要
以初始参数为基础,建立了更为精准的运动学模型,改进位姿匹配原理,于任何一个测量点处,在测量仪器下改变末端到达计算末端位姿,记录此时各关节转角,以及改变前后关节转角差,依此对初始参数进行一系列修正,使之向实际参数收敛。仿真证明,经由该法对机器人参数进行修正后,其精度得到一定程度的提高。
The method described in this paper is attaching to the real parameters nearly,by using the initial parameters.To rebuild a more accurate fkine model,we revise the initial parameters nonstop to bring the convergence to the actual argument,by using position and attitude matching principle.At any measuring point,we change the calculation to reach the end of the end of the pose on the base of the measuring instrument,and record the joint angle at this time,as well as changes in joint angle before and after.Simulation shows that it can be improved to some extent after the amendment.
出处
《计算机与数字工程》
2010年第7期17-19,73,共4页
Computer & Digital Engineering
关键词
MDH参数
位姿匹配
参数标定
MDH parameters
pose matching calibration
calling parameter
