發(fā)布時(shí)間：2018-02-11 18:15

  本文關(guān)鍵詞： 零位標(biāo)定 運(yùn)動(dòng)學(xué)參數(shù)標(biāo)定 誤差分析 柔性誤差　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著工業(yè)機(jī)器人在各領(lǐng)域越來越廣泛的應(yīng)用,其對精度也提出了更高的要求,現(xiàn)有的標(biāo)定技術(shù)具有一定的成熟度且精度較高,但依舊存在著標(biāo)定方法的誤差和標(biāo)定模型的不完整,這也就給標(biāo)定精度的提升又提供了一定的空間,因此有關(guān)工業(yè)機(jī)器人快速標(biāo)定的誤差分析研究就有更加顯著的意義。本文對工業(yè)機(jī)器人標(biāo)定方法的誤差分析進(jìn)行了研究,并基于柔性誤差對運(yùn)動(dòng)學(xué)參數(shù)標(biāo)定的影響,改進(jìn)了誤差模型,進(jìn)而從兩個(gè)方面進(jìn)一步提高了 IRB120工業(yè)機(jī)器人的絕對定位精度。本文首先對工業(yè)機(jī)器人的運(yùn)動(dòng)學(xué)基礎(chǔ)知識進(jìn)行了詳細(xì)闡述,基于經(jīng)典的D-H模型和改進(jìn)的D-H模型(MDH模型)分別建立了運(yùn)動(dòng)學(xué)模型,并進(jìn)行了正運(yùn)動(dòng)學(xué)的推導(dǎo)和逆運(yùn)動(dòng)學(xué)問題的求解方法的研究,另外,分別從誤差模型、約束模型和優(yōu)化模型三個(gè)方面對基于點(diǎn)約束的零位標(biāo)定和基于球面約束的運(yùn)動(dòng)學(xué)參數(shù)標(biāo)定進(jìn)行了闡述,為后面研究提供了基礎(chǔ)理論的準(zhǔn)備。針對標(biāo)定方法的誤差分析這方面,在原標(biāo)定系統(tǒng)中為PSD云臺建立了工件坐標(biāo)系,進(jìn)而對靜態(tài)位姿和激光線在PSD上投影偏移進(jìn)行了誤差分析,推導(dǎo)出各運(yùn)動(dòng)學(xué)參數(shù)和投影偏移之間的誤差關(guān)系,并結(jié)合IRB120進(jìn)行了相應(yīng)的誤差實(shí)例分析,實(shí)現(xiàn)了標(biāo)定方法的誤差分析。另一方面,分析工業(yè)機(jī)器人的誤差來源,針對關(guān)節(jié)柔性誤差進(jìn)行了較為詳細(xì)的研究分析工作,包括分析和建立關(guān)節(jié)柔性誤差模型,并將其融合到了 IRB120運(yùn)動(dòng)學(xué)參數(shù)標(biāo)定仿真系統(tǒng)中;依據(jù)建立的誤差模型,結(jié)合本文具體機(jī)型分析了其關(guān)節(jié)柔性變化量,從而驗(yàn)證了關(guān)節(jié)柔性的影響不能忽略,并對其變化量進(jìn)行了誤差靈敏度分析,為后續(xù)模型改進(jìn)提供前期基礎(chǔ)工作。由于關(guān)節(jié)柔性誤差的影響并不能忽略,從而對原有的零位標(biāo)定和運(yùn)動(dòng)學(xué)參數(shù)標(biāo)定的誤差模型進(jìn)行了相應(yīng)改進(jìn),添加了對柔性誤差的考慮,并通過Matlab仿真和零位標(biāo)定實(shí)驗(yàn)驗(yàn)證了改進(jìn)模型的效果確實(shí)優(yōu)于原來的模型,進(jìn)而最終從原先預(yù)期的兩個(gè)方面提升了標(biāo)定精度。
[Abstract]:With the more and more extensive application of industrial robot in various fields, its precision is also higher. The existing calibration technology has a certain maturity and high precision. However, there are still errors in calibration methods and incomplete calibration models, which provides some space for the improvement of calibration accuracy. Therefore, the research on the error analysis of industrial robot calibration is more significant. In this paper, the error analysis of the calibration method of industrial robot is studied, and based on the effect of flexible error on kinematic parameter calibration, The error model is improved, and the absolute positioning accuracy of IRB120 industrial robot is further improved from two aspects. Firstly, the basic knowledge of kinematics of industrial robot is described in detail in this paper. Based on the classical D-H model and the modified D-H model / MDH model, the kinematics model is established, and the forward kinematics derivation and inverse kinematics problem solving method are studied. The zero calibration based on point constraint and kinematic parameter calibration based on spherical constraint are described in three aspects of constraint model and optimization model. In the original calibration system, the workpiece coordinate system is established for the PSD cloud head, and then the error analysis of the static pose and the projection migration of the laser line on the PSD is carried out, and the error relationship between the kinematics parameters and the projection offset is deduced. The error analysis of calibration method is realized with IRB120. On the other hand, the error source of industrial robot is analyzed, and the flexible joint error is studied and analyzed in detail. The flexibility error model of joint is analyzed and established, and it is integrated into the IRB120 kinematics parameter calibration simulation system, according to the established error model, the change of joint flexibility is analyzed based on the specific model of this paper. It is proved that the influence of joint flexibility can not be ignored, and the error sensitivity analysis of its variation is carried out, which provides the basis for the subsequent improvement of the model. Because the effect of joint flexibility error can not be ignored, the influence of joint flexibility error can not be ignored. Therefore, the error model of zero calibration and kinematic parameter calibration is improved, and the flexibility error is considered. The effect of the improved model is proved to be better than that of the original model by Matlab simulation and zero calibration experiment. Finally, the calibration accuracy is improved from the two aspects originally expected.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2

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