机器人标定技术研究

机器人标定是离线编程技术实用化的关键技术之一 ,测量手段是制约其发展的一个重要因素 .本文提出了一种简单实用的测量方法 .同时建立了具有完备性、比例性、连续性的 RH6 - A型机器人的真实运动学模型 .并根据测量结果 ,成功地辨识出了机器人的几何结构参数 ,提高了机器人的绝对精度 .

Robot calibration is one of the key technologies of off  line programming, and measuring method is an important element which restrict its development.According to this point, this paper introduces a simple and useful method. Then it also sets up a complete, proportional, and consecutive kinematical model. At last, it identifies the geometrical parameters for the robot and improves the absolute accuracy for it.