关键词: 工业机器人, 机器人标定, 误差建模, 视觉测量, 绝对精度

Abstract:

:A kinematic model suitable for the complete calibration of robot is built according to the vision-based pose measuring method, and an error model considering all the parameters is deduced, with the world coordinates as the reference coordinates. Then, the reference coordinates of the error model is clearly pointed out, and prob- lems relating to the key technology of simulation are solved. Moreover, some equations to validate the error model are derived, and the correctness and accuracy of the proposed error model are compared by simulation. The results indicate that the accuracy of the error model is limited, and that the identification accuracy improves; however, the identification accuracy does not exhibit obvious increase when the number of measurement times reaches a relatively constant value.

Key words: industrial robot, robot calibration, error modeling, vision measurement, absolute accuracy