Volume 66 Issue 2
Feb.  2022
Turn off MathJax
Article Contents
HUANG Lei, DOU Yanhong, FAN Yu, ZHAO Zizhao, HE Zhichao, ZHANG Shuang. Development of a 3D Online Self Calibration Device for Industrial Robots[J]. Metrology Science and Technology, 2022, 66(2): 3-8. doi: 10.12338/j.issn.2096-9015.2021.0114
Citation: HUANG Lei, DOU Yanhong, FAN Yu, ZHAO Zizhao, HE Zhichao, ZHANG Shuang. Development of a 3D Online Self Calibration Device for Industrial Robots[J]. Metrology Science and Technology, 2022, 66(2): 3-8. doi: 10.12338/j.issn.2096-9015.2021.0114

Development of a 3D Online Self Calibration Device for Industrial Robots

doi: 10.12338/j.issn.2096-9015.2021.0114
  • Available Online: 2021-12-29
  • Publish Date: 2022-02-18
  • Aiming at the problem of balancing the cost and accuracy in calibration of industrial robots, a low-cost three-dimensional high-precision contact self-calibration system for industrial robots was developed. The three-dimensional calibrator is installed in the end position of the robot (TCP). Using three orthogonal high-precision position sensors, the D-H parameters of industrial robots can be calibrated online with low cost and high precision by the calibration algorithm of D-H parameters of industrial machines and precise iterative measurement of a special four ball calibration table. A comparison with a laser tracker showed that the maximum En value of each measurement point was 0.63 and the comparison result was satisfactory.
  • loading
  • [1]
    任瑜, 张丰, 郭志敏, 等. 利用Leica激光跟踪仪对工业机器人现场标定的方法[J]. 计量技术, 2019, 543(11): 64-68.
    [2]
    温秀兰, 崔俊宇, 芮平, 等. 激光跟踪仪现场校准设备相关问题探讨[J]. 计量技术, 2017, 523(1): 36-38.
    [3]
    班朝, 任国营, 王斌锐, 等. 融合加权SVD算法的工业机器人运动学标定[J]. 计量学报, 2021, 42(9): 1128-1135. doi: 10.3969/j.issn.1000-1158.2021.09.02
    [4]
    张春涛, 王勇. 工业机器人六维力传感器在线标定方法研究[J]. 电子测量与仪器学报, 2021, 35(6): 161-168.
    [5]
    董成举, 刘文威, 李小兵, 等. 六轴工业机器人工作空间分析及区域性能研究[J]. 中国测试, 2020, 44(5): 154-160. doi: 10.11857/j.issn.1674-5124.2019120013
    [6]
    李定坤, 叶声华, 任永杰, 等. 机器人定位精度标定技术的研究[J]. 计量学报, 2007, 28(3): 224-227.
    [7]
    张湧涛, 金爽, 王一. 多传感信息融合机器人标定方法[J]. 中国测试, 2018, 42(4): 56-62.
    [8]
    陈烨. S-R-S型七自由度串联机器人约束条件下的定位误差分析与补偿[D]. 南京: 南京邮电大学, 2019.
    [9]
    李定坤, 叶声华, 任永杰, 等. 机器人末端工具参数自动标定方法[J]. 哈尔滨工业大学学报, 1998, 30(3): 74-76.
    [10]
    任永杰, 邾继贵, 杨学友, 等. 基于距离精度的测量机器人标定模型及算法[J]. 计量学报, 2008, 29(3): 198-202.
    [11]
    魏霖. 关节式坐标测量机标定的研究[D]. 武汉: 华中科技大学, 2006.
    [12]
    Ahmed Joubair, Albert Nubiola, IlianBonev. Calibration Efficiency Analysis Based on Five Observability Indices and Two Calibration Models for a Six-Axis Industrial Robot[J]. SAE International, 2013(6): 161-168.
    [13]
    Joubair A , Slamani M , Bonev I A. Kinematic calibration of a five-bar planar parallel robot using all working modes[J]. Robotics and Computer-Integrated Manufacturing, 2013, 29(4): 15-25. doi: 10.1016/j.rcim.2012.10.002
    [14]
    于连栋, 程文涛, 费业态. 基于激光跟踪仪的关节式坐标测量机参数标定[J]. 中国科学技术大学学报, 2009, 39(12): 1329-1331.
    [15]
    国家质量监督检验检疫总局. 工业机器人性能规范及其试验方法: GB/T 12642-2013 [S]. 北京, 2014.
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(7)  / Tables(3)

    Article Metrics

    Article views (148) PDF downloads(28) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return