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论文类型：期刊论文

发表时间：2019-03-01

发表刊物：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE

收录刊物：SCIE、EI

卷号：233

期号：5

页面范围：1783-1794

ISSN号：0954-4062

关键字：Kinematics; robots; calibration; link errors; kinematic pair errors

摘要：A new approach for kinematic calibration of industrial robots, including the kinematic pair errors and the link errors, is developed in this paper based on the kinematic invariants. In most methods of kinematic calibration, the geometric errors of the robots are considered in forms of variations of the link parameters, while the kinematic pairs are assumed ideal. Due to the errors of mating surfaces in kinematic pairs, the fixed and moving axes of revolute pairs, or the fixed and moving guidelines of prismatic pairs, are separated, which can be concisely identified as the kinematic pair errors and the link errors by means of the kinematic pair errors model, including the self-adaption fitting of a ruled surface, or the spherical image curve fitting and the striction curve fitting. The approach is applied to the kinematic calibration of a SCARA robot. The discrete motion of each kinematic pair in the robot is completely measured by a coordinate measuring machine. Based on the global kinematic properties of the measured motion, the fixed and moving axes, or guidelines, of the kinematic pairs are identified, which are invariants unrelated to the positions of the measured reference points. The kinematic model of the robot is set up using the identified axes and guidelines. The results validate the approach developed has good efficiency and accuracy.