【摘要】 为进一步提高机械臂运动学标定精度，研究不同D-H建模方式下运动学误差辨识精度的差异，为运动学误差准确建模提供理论依据。围绕SD-H和MD-H运动学误差模型的各种变体形式，量化对比各模型变体的性态水平和线性化误差，并分析二者对运动学标定精度的综合影响。研究结果表明：x-z-y欧拉变换会破坏MD-H运动学误差模型最小性，不适用于运动学标定；其余满秩MD-H模型性态水平优于SD-H模型两个数量级；MD-H建模时引入的线性化误差与SD-H数量级等同；在模型性态水平和线性化误差综合作用下，较强测量噪声环境中的SD-H模型运动学标定精度(0.1%～39.3%)优于MD-H模型(0.1%～71.2%);角度类与位置类的运动学参数误差的辨识精度差异显著。研究成果为机械臂标定的精确建模以及误差类型与辨识方法的合理匹配提供了理论依据。更多还原

【Abstract】 In order to improve the kinematics calibration accuracy of robot arm, the effects of different D-H kinematics error models on identification accuracy of kinematic errors were studied for a theoretical basis of accurate modeling.The performance and linearization error of variants of SD-H and MD-H kinematic error models were compared.And their comprehensive effect on the kinematic calibration accuracy was analyzed.The results show that the x-z-y Euler transform breaks the minimality of the MD-H model and is not recommended; the performances of other full-rank MD-H model is superior to SD-H model, and the linearization error of MD-H modeling is the same with that of SD-H;with the effect of model performance and linearization error, the calibration accuracy(from 0.1% to 39.3%) using SD-H model under strong noise is better than that using MD-H model(from 0.1% to 71.2%);a significant difference between the identification accuracy of angular and positional errors is also observed.The results provide a theoretical basis for the calibration modeling methods and selection of identification methods of different types of kinematic errors.更多还原