A parameter calibration method for manipulators based on laser displacement measurement

被引：0
|
作者：
Shao X. [1 ]
Ji L. [1 ]
Zou H. [2 ]
Xie Y. [1 ]
机构：
[1] School of Mechatronics Engineering and Automation, Shanghai University, Shanghai
[2] Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2022年 / 48卷 / 11期
基金：
上海市自然科学基金;
关键词：
combined constraints; kinematic parameter calibration; laser displacement measurement; manipulators; nonlinear optimization;
D O I：
10.13700/j.bh.1001-5965.2021.0093
中图分类号：
学科分类号：
摘要：
The traditional method of robot parameter target usually requires an expensive equipment, and the technical realization cost is high, a novel low-cost calibration method for manipulators is proposed, which utilizes a laser displacement sensor installed on the end of the manipulator to measure the relative position of the manipulator end with respect to an external cubic reference. A kinematic parameter calibration is designed for a 6 degree of freedom manipulator. Based on single-dimensional measurements, the error function is constructed with combined consideration of plane flatness and plane angles, and further minimized with a nonlinear optimization method to obtain the final calibration results. The proposed method is testified on an experimental system and compared with the calibration by a laser tracker. Results show that this method has similar calibration accuracy to the methods using expensive external measurement devices and provides a handy and cheap solution to manipulator calibration. © 2022 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：2281 / 2288
页数：7
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