Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint

任晓栋 1; 冯祖仁 1; 2; 苏承平 1; 2

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Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint

更新时间：2025-12-08

- Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint
- Vol. 42, Issue 12, Pages: 1445-1449(2008)
- 作者机构：
  
  1. 西安交通大学系统工程研究所,西安,710049
  2. 西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.2
- Online First：10 December 2008，
  
  Published：2008
- 稿件说明：
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任晓栋 1, 冯祖仁 1, 2, et al. Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint[J]. 2008, 42(12): 1445-1449.
DOI：

任晓栋 1, 冯祖仁 1, 2, et al. Method for Kinematic Calibration of Parallel Robots Using Orientation Constraint[J]. 2008, 42(12): 1445-1449. DOI：

摘要

为了提高并联机器人运动精度

提出了一种利用姿态约束的运动学标定方法.借助一个双轴倾角仪

建立了机器人末端2个姿态角恒定约束

根据这种约束构造了相应的辨识模型和标定算法.标定算法得益于倾角仪重复精度和分辨率高于位置精度的特点

不受其位置精度和量程的限制

同时可避免施加机械约束给并联机器人主动关节带来特殊要求.仿真计算表明

在杆长测量精度为2 μm、倾角仪重复精度为0.001°的条件下

经过标定后并联机器人的位置精度可达0.1 mm

姿态精度可达0.01°.

Abstract

A new calibration method using orientation constraint is presented to improve the accuracy of parallel robots. With the use of a commercial biaxial inclinometer

two attitude angles of the end-effecter are kept constant at different measurement configurations. The corresponding calibration algorithm is built through the orientation constraint. Instead of positioning accuracy

repeatability and resolution of the inclinometer are used to construct the orientation constraint

and the measurement range of the inclinometer has no effect on the calibration method. Moreover

the actuators of the parallel robots do not need to operate in passive mod because the orientation constraint is not constructed by the mechanical locking device. Simulation results show that the position accuracy and the orientation accuracy reach 0.1 mm and 0.01°

respectively

with measurement precision on leg lengths of 2 μm and repeatability on inclinometer of 0.001°.

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references

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BESNARD S, KHALIL W. Identifiable parameters for parallel robots kinematic calibration [C]∥Proceedings of International Conference on Robotics and Automation. Piscataway,NJ, USA: IEEE, 2001: 2859-2866.

SOONS J A. On the geometric and thermal error of a hexapod machine tool [C]∥Proceedings of USA-Europe Forum on Parallel Kinematic Machines. Berlin, Germany: Springer-Verlag, 1999: 151-169.

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