Space Jacobian matrix establishing method for robot parameter identification

Abstract

The invention discloses a space Jacobian matrix establishing method for robot parameter identification. The method includes the steps of S100, establishing a robot kinematic model; S200, analyzing robot joint differential movement characteristics on the basis of the robot kinematic model, and establishing a homogeneous transformation matrix in a coordinate system under the differential movement conditions; S300, establishing a virtual coordinate system corresponding to a joint on the basis of assuming that differential movements happen to a certain joint coordinate system, establishing a transformation matrix between the joint and the coordinate system, then calculating the attained pose of the tail end of the robot relative to a base coordinate system, comparing the attained pose with anexisting theoretical pose to obtain the pose error, caused by the movement quantity error of the joint coordinate system, of the tail end of the robot relative to the base coordinate system, and establishing a space Jacobian matrix of the robot. The robot space Jacobian matrix establishing method based on the differential movement principle and the virtual coordinate system method has lower time consumption and can rapidly establish the space Jacobian matrix of the robot.

Description

technical field [0001] The invention belongs to the technical field of robot calibration, and more particularly relates to a method for constructing a spatial Jacobian matrix for robot parameter identification. Background technique [0002] The kinematic accuracy of an industrial robot plays a vital role in its application reliability in production. The geometric parameter error of each connecting rod of the robot is the most important part of the positioning error of the robot. It mainly comes from the deviation between the actual geometric parameter and the theoretical parameter value of the connecting rod during the manufacturing and installation process, and is generally regarded as a systematic error. [0003] Identifying the geometric parameter errors of each connecting rod of the robot is an important means to improve the motion accuracy of the robot. The main task of parameter identification is to construct the transformation relationship from the robot parameter err...

AI Technical Summary

Problems solved by technology

In the existing methods for constructing the robot space Jacobian matrix, the object Jacobian matrix of the robot is generally constructed first, and then the space Jacobian matrix is ​​constructed by using the transformation relationship between the two. The time consumption of the parameter identification algorithm is relatively long, and it is difficult to adapt Technical Requirements for Robot Calibration

Images