The kinematic calibration method of manipulator based on optical axis constraint

被引：0
|
作者：
Zhu Q. [1 ]
Xie X. [1 ]
Xia G. [1 ]
Li C. [1 ]
Liu Q. [2 ]
机构：
[1] College of Automation, Harbin Engineering University, Harbin
[2] Institute of Chemical Materials, China Academy of Engineering Physics, Mianyang
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2019年 / 40卷 / 03期
关键词：
Iterative least squares; Optical axis; Parameter calibration; Positioning accuracy; Robotic manipulator; Virtual constraint; Visual control;
D O I：
10.11990/jheu.201805025
中图分类号：
学科分类号：
摘要：
To improve the absolute accuracy in positioning of robotic manipulator, a kinematic parameter calibration method based on virtual constraint of optical axis is proposed in this paper.First, the kinematic error model based on virtual straight line constraint was established. Then, based on the camera optical axis constraints, the fixed feature point of the planar marker, which was attached to the robot end-effector, was controlled to reach multiple positions of the optical axis in sequence using the image-based visual control method. Finally, the alignment position differences of the feature points were calculated using the kinematic model, and the kinematic parameter errors were calculated by applying the iterative least squares method. The experiment on kinematic parameter calibration with Reinovo six-degree-of-freedom industrial manipulator was designed. For randomly generated testing points, the mean of the alignment errors decreased from 1.50 mm to 0.72 mm after calibration process, indicating that the positioning accuracy of the end-effector of manipulator improved by 52%. The experimental results verify the effectiveness of the proposed method. © 2019, Editorial Department of Journal of HEU. All right reserved.
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页码：433 / 439
页数：6
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