摘要
机械臂位姿校正由于误差考虑不充分,导致误差校正效果差,机械臂稳定性低,因此,提出基于激光测距传感器的机械臂末端位姿误差校正方法。该方法基于激光测距传感器原理,通过最小二乘算法,确定机械臂末端位姿误差,包括位置误差和姿态误差,根据得到的误差,采用适应度改进的遗传算法,结合非线性传递特性分析机械臂的末端位姿,获得误差补偿,构建机械臂末端位姿的误差校正方法,实现机械臂末端位姿误差校正。经过实验证明,所提方法校正后的最高误差仅为0.13 cm,响应时间低于1.25 s,复杂度为0.30,并且振动区间较小,仅为[-0.03,0.02]m,说明该方法较为简洁,可以快速实现机械臂误差校正,降低了算法复杂度的同时,提高了机械臂的稳定性强。
The error correction effect is poor and the stability of the robot arm is low due to insufficient error consideration.Therefore,a method of the end position and attitude error correction of the robot arm based on the laser ranging sensor is proposed.The pose error of the end of the robot arm is determined based on the principle of laser distance measurement sensor through the least square algorithm,in-cluding position error and attitude error.The genetic algorithm with improved fitness is adopted to analyze the pose error of the end of the robot arm in combination with the nonlinear transfer characteristics according to the obtained errors,the error compensation is obtained,and the error correction method of the end pose of the robot arm is constructed.The position and pose error correction of the end of the manipulator is realized.The experiments show that the maximum error are corrected by using the proposed method is only 0.13 cm,the re-sponse time is less than 1.25 s,the complexity is 0.30,and the vibration interval is small(only[-0.03,0.02]m),indicating that the method is relatively simple,can quickly realize the correction of the error of the robot arm,and reduces the complexity of the algorithm.The stabil-ity of the mechanical arm is improved.
作者
韩金利
尚卓
HAN Jinli;SHANG Zhuo(Department of Numerical Control Engineering,Shanxi Institute of Mechanical and Electrical Engineering,Changzhi Shanxi 046011,China;School of Optoelectronic Materials&Technology,Jianghan University,Wuhan Hubei 430056,China)
出处
《传感技术学报》
北大核心
2025年第3期511-517,共7页
Chinese Journal of Sensors and Actuators
基金
2020年山西省高等学校科技创新项目(2020L0760)。
关键词
激光测距传感器
机械臂末端位姿
误差校正
最小二乘算法
遗传算法
非线性传递特性
laser ranging sensor
robotic arm end pose
error correction
least squares algorithm
genetic algorithm
nonlinear transfer characteristics
作者简介
韩金利(1983-),男,汉族,讲师,山西平顺人,武汉理工大学工学硕士,现为山西机电职业技术学院数控工程系专任教师,智能制造装备技术教研室专业负责人,研究方向为机器人、智能制造技术,近三年主持山西省高等学校科技创新项目一项ꎬhanjinli2023000@163.com。
