DOI:

1.闽江学院;2.南开大学

TP273

A joint calibration method of mobile manipulator based on exponential product formula
Author:
Affiliation:

1.Minjiang University;2.Nankai University

Fund Project:

National Key R&D Program of China(Grant No.2018YFB1307601)，National Natural Science Foundation of China (Grants Nos. 61973173,91848203),Technology Research and Development Program of Tianjin (Grant No.18ZXZNGX00340), Industrial Robot Application of Fujian University Engineering Research Center, Minjiang University (MJUKF-IRA1904).

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摘要:

本文提出一种基于指数积的移动机械臂联合标定方法.该方法实现了移动平台和机械臂两者间位姿标定和机械臂运动学参数标定模型的统一.目前机械臂运动学参数标定使用最多的是基于D-H参数法,但D-H参数法无法克服相邻关节平行或接近平行时的奇异性问题,以及建模过程复杂,建模后的模型通用性差等问题.所以本文提出基于指数积的移动机械臂联合标定方法,该方法建模时不会因为关节轴平行出现奇异性问题,建模过程简单.该方法通过对整个系统的运动学方程进行微分运算获得末端位姿误差和移动机械臂零位状态旋量误差及关节旋量误差的线性化模型.该方法通过伴随矩阵方式建立关节旋量理论值和关节旋量实际值的关系,并通过改变伴随矩阵实现基于最小二乘法的参数辨识计算过程中参数更新.文章使用高精度激光跟踪仪作为测量工具,通过实验证明所述方法的有效性.

Abstract:

This paper proposes a joint calibration method for a mobile manipulator based on product of exponential. This method realizes the unification of the pose calibration and the kinematic parameter calibration model of the manipulator between the mobile platform and the manipulator. At present, the most used kinematic parameter calibration of robotic arm is based on the D-H parameter method, but the D-H parameter method cannot overcome the singularity problem when the adjacent joints are parallel or nearly parallel, and the modeling process is complicated and the model after modeling is poorly generalized.Therefore, this paper proposes a product of exponentials based joint calibration method for mobile manipulator, which does not cause singularity problems due to the parallelism of joint axes and has a simple modeling process.The method obtains the linearized models of the end position error and the zero position state rotational error and joint rotational error of the mobile arm by differentiating the kinematic equations of the whole system.The method establishes the relationship between the theoretical and actual values of joint spins by means of the concomitant matrix, and realizes the parameter update during the calculation of parameter identification based on the least squares method by changing the concomitant matrix.The article uses a high-precision laser tracker as the measurement tool and demonstrates the effectiveness of the method through experiments.

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##### 历史
• 收稿日期:2021-10-27
• 最后修改日期:2022-02-25
• 录用日期:2022-03-04
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