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基于四元数表示法的机器人基坐标系标定方法

王伟 刘立冬 王刚 贠超

王伟, 刘立冬, 王刚, 等 . 基于四元数表示法的机器人基坐标系标定方法[J]. 北京航空航天大学学报, 2015, 41(3): 411-417. doi: 10.13700/j.bh.1001-5965.2014.0239
引用本文: 王伟, 刘立冬, 王刚, 等 . 基于四元数表示法的机器人基坐标系标定方法[J]. 北京航空航天大学学报, 2015, 41(3): 411-417. doi: 10.13700/j.bh.1001-5965.2014.0239
WANG Wei, LIU Lidong, WANG Gang, et al. Calibration method of robot base frame by quaternion form[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(3): 411-417. doi: 10.13700/j.bh.1001-5965.2014.0239(in Chinese)
Citation: WANG Wei, LIU Lidong, WANG Gang, et al. Calibration method of robot base frame by quaternion form[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(3): 411-417. doi: 10.13700/j.bh.1001-5965.2014.0239(in Chinese)

基于四元数表示法的机器人基坐标系标定方法

doi: 10.13700/j.bh.1001-5965.2014.0239
基金项目: 北京航空航天大学基本科研业务费资助项目(YWF-14-JXXY-016); 高等学校博士学科点专项科研基金资助项目(20121102120020)
详细信息
    通讯作者:

    王伟(1982—),男,湖北京山人,讲师,jwwx@me.buaa.edu.cn,主要研究方向为机器人学.

  • 中图分类号: TP242

Calibration method of robot base frame by quaternion form

  • 摘要: 在多机器人协同、运动学参数辨识和机器人离线编程等作业任务下,需要标定出机器人基坐标系在世界坐标系中的精确位姿.提出和实施了一种利用四元数表示法进行机器人基坐标系精确标定的方法.利用指数积公式,建立机器人的运动学模型.利用外部测量设备,测量出5个不共面的工具中心点,并记录对应的机器人关节位形.以基坐标系位姿对应的旋转矩阵元素为变量,建立不相容方程组,并求出基坐标系位姿的初步齐次矩阵.由于测量误差和截断误差,初步齐次矩阵的旋转矩阵部分不能满足单位正交阵的性质.利用四元数的几何约束条件,建立罚函数形式的目标方程,将初步齐次矩阵进行正交化修正.通过一系列的实际机器人的标定试验,验证了该标定方法的正确性,并提高了机器人末端的定位精度.

     

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出版历程
  • 收稿日期:  2014-04-30
  • 刊出日期:  2015-03-20

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