大臂展空间机械臂运动学参数精确标定

大臂展空间机械臂运动学参数精确标定周伟刚;魏博;李辉;蒋志宏;黄强;唐自新;张晓东;刘雜【期刊名称】载人航天【年(卷)，期】2016(022)004【摘要】The geometric parameters of the arm and the flexibility will lead to a large error in the space manipulator. However, high positioning accuracy at the end of the robot arm is required in some space operations In order to obtain the accuracy of the kinematic parameters a linear calibra-tion method for the robot kinematic parameters was presented in this paper. Taking a 7 degree of freedom space manipulator as the research object, a kinematic model of the robot was established by using the D-H modeling method, and the kinematic error model was also established. The simulation experiments show that the calibration method has high accuracy, and the method is simple and easy to be applied in practice.%大臂展空间机械臂 z 由于臂杆 的几何参数误差及柔性等因素将会导致其末端定位产生很大误差,然而在某些 空间作业时对机械臂末端定位精度要求较高，为了获得其准确的运动学参数， 提出了一种线性标定机器人运动学参数的简便方法。以一个7自由度空间机械 臂为研究对象，采用D-H建模方法建立了机器人运动学模型，基于该模型建立 了机器人运动学误差模型，最后通过计算机器人末端的位姿误差，标定了该机 器人的运动学参数。仿真实验表明该标定方法有较高的精度,并且该方法操作 简单、便于实际应用。