激光跟踪仪标定机器人的有效方法

任永杰 邾继贵 杨学友 叶声华

（天津大学精密测试技术及仪器国家重点实验室 天津 300072）

摘要：提出一种简单的利用激光跟踪仪和线性方程最小二乘解对机器人进行标定的方法。通过将机器人运动学方程线性化，建立机器人末端凸缘盘位置误差与连杆D-H参数误差的关系方程。利用激光跟踪仪确定机器人的基坐标系，并通过圆周法求解每个关节电动机的直线方程，进而可以求得机器人的连杆扭角。通过激光跟踪仪测量机器人目标点的坐标值，并通过串口获得机器人6根轴的角度值建立标定方程。通过求解此方程，获得机器人的实际D-H参数，并将此参数应用于修正系统的运动学模型，能够提高机器人的绝对精度。最后对解算过程中的误差和原因进行说明，并对机器人的误差原因进行分析，指出标定过程中需要注意和改进的几个问题。

关键词：机器人 定位精度 标定 激光跟踪仪

中图分类号：TP24

METHOD OF ROBOT CALIBRATION BASED ON LASER TRACKER(www.xing528.com)

REN Yongjie ZHU Jigui YANG Xueyou YE Shenghua

（State Key Laboratory of Precision Measuring Technology and Instruments，Tianjin University Tianjin 300072）

Abstract：A simple method of robot calibration based on laser tracker and least square solution of linear equstion is presented.Using the method of linearizing equation，the relational equation be-tween robot end flange position error and link D-H parameter error is established.The robot bass co-ordinate system is established by laser tracer，and each linear equation of joint motor is obtained via the method of circle，then joint twist is solved.At the same time，the robot coordinate values are measured by laser tracker，and six axes angles are obtained through serial port.The real D-H pa-rameters are obtained by solving calibration equation.Then these parameters are used in the kine-matics model of corrected system，and to improve the robot’s absolute accuracy.In the end，the er-ror and reason of the solution are explained clearly.The reason of robot error is analyzed，and some problems needing attention and improving in the process of calibration are put forward.

Keywords：robot location accuracy calibration laser tracker