机器人几何连杆参数辨识
The Identification of Geometric Link Parameters of Robot Manipulators
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摘要: 本文给出了一种通用的机器人几何连杆参数估计方法.基于机器人运动学模型和运动学 误差模型,可以推导出包含未知参数的线性输入输出方程;然后采用最小二乘法得到参数估计 值.该方法已应用于PUMA机器人参数辨识.Abstract: In this paper, a method for geometric link parameter estimation of robot manipulators has been proposed. Based on the kinematic model and kinematic error model of a robot, linear input-output equations concerning all of unknown parameters are developed. The unknown parameters are estimated by the least square method. This method has been applied to the parameter estimation of an actual PUMA 760 industrial robot.
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Key words:
- Robot /
- parameter extimation /
- modelling /
- kinematics
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