摘要
为提高工业机器人末端精度的可靠性,提出将蒙特卡洛法用于机器人几何参数标定可靠性分析的方法.首先利用激光跟踪仪测量工业机器人各轴的旋转轨迹圆,确定各个关节轴线的方向向量,进行机器人几何参数标定;然后建立机器人运动精度可靠性分析模型,研究在测量重复性、采样策略影响因素下机器人末端执行器运动精度的可靠性.结果表明,该方法将测量条件的影响因素转化为几何参数误差,准确地反映了测量重复性、采样策略因素对运动精度可靠性的影响程度,验证了测量重复性对机器人末端执行器运动精度可靠性的影响较大,为提高机器人运动精度可靠性提供参考.
In order to improve the reliability of the motion accuracy of the end of industrial robots,Monte Carlo method is proposed to analyze the reliability of geometric parameter calibration of such robots.Firstly,the rotation trajectory circle of each axis of industrial robots is measured by using a laser tracker,and the direction vector of each joint axis is determined.The geometric parameters of the robots are calibrated.Then,a reliability analysis model of robot motion accuracy is established to study the reliability of robot end effector motion accuracy with influences of measurement repeatability and sampling strategy.The results show that this method can be adopted to transform the contributing factors of measurement conditions into kinematic parameter errors,and accurately reflect the degree of influences of measurement repeatability and sampling strategy factors on the reliability of motion accuracy.The factors have a great impact on the reliability,which provides guidance for improving the reliability of robot motion accuracy.
作者
崔伟祥
渠慎林
温秀兰
冯月贵
CUI Wei-xiang;QU Shen-lin;WEN Xiu-lan;FENG Yue-gui(School of Automation, Nanjing Institute of Technology, Nanjing 211167, China;Nanjing Special Equipment Safety Supervision Inspection and Research Institute, Nanjing 210002, China)
出处
《南京工程学院学报（自然科学版）》
2021年第4期1-6,共6页
Journal of Nanjing Institute of Technology(Natural Science Edition)
基金
国家自然科学基金项目(51675259)
江苏软科学研究项目(BR2021069)
南京工程学院大学生科技创新基金项目(TB20211601)。
关键词
轴线测量法
几何参数标定
运动精度可靠性
蒙特卡洛算法
axis measuring method
geometric parameter calibration
motion accuracy reliability
Monte Carlo algorithm
