扩展卡尔曼滤波和配准算法的工业机器人误差补偿

罗天洪; 刘淼; 马翔宇; 陈才; 张剑

doi:10.13433/j.cnki.1003-8728.2016.1013

扩展卡尔曼滤波和配准算法的工业机器人误差补偿

doi: 10.13433/j.cnki.1003-8728.2016.1013

1.
重庆交通大学机电与汽车工程学院, 重庆 400074

基金项目:

国家自然科学基金项目（51375519）与重庆市研究生科研创新项目（CYS14162）资助

详细信息

作者简介:
罗天洪(1975-),教授,博士后,研究方向为重载精密机械手、机械设计及理论,tianhong.luo@163.com

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- 文章访问数: 195
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- 被引次数: 0
出版历程
- 收稿日期: 2015-01-19
- 刊出日期: 2016-10-05

Error Compensation of Industrial Robots Based on Extended Kalman Filters and Registration Algorithm

1.
Department of Mechanical-Electrical and Automotive Engineering, Chongqing Jiaotong University, Chongqing 400074, China

摘要

摘要: 针对现有工业机器人误差，特别是工业机器人末端轨迹精度低、实时监测计算复杂等问题，提出利用扩展卡尔曼滤波器和配准算法组合提高机器人末端轨迹精度的算法，解决了机器人末端精度低、控制补偿不准确等问题。建立SCARA机器人数学模型，同时建立基于扩展卡尔曼滤波和配准算法的机器人误差补偿模型，通过扩展卡尔曼滤波、配准算法进行误差补偿，实现了末端精度的提高。通过仿真验证，分析对比机械手末端轨迹补偿前后的误差，证明了算法的可靠性与准确性。
- 末端轨迹精度 /
- 误差 /
- 扩展卡尔曼滤波 /
- 配准算法
Abstract: In view of existing overloading error for the industrial robot, especially the industrial robot general problems:the terminal trajectory has low precision; the calculation of real-time monitoring is complex and so on. In this paper, the way of extended Kalman filters combined with registration algorithm is proposed to improve position precision of the robot, the problems such as the low precision of terminal trajectory and the inaccurate analysis of control compensation have been solved. First, the mathematical model of SCARA robot and error analysis evaluation model are established. Based on extended Kalman filters and registration algorithm, the terminal trajectory precision has been improved. As result, through simulation by professional software, analyzing the difference of using algorithm and not using algorithm, the reliability and accuracy of the algorithm is proved.
- position /
- errors /
- extended Kalman filters /
- algorithms

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参考文献(15)

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