用单个拉线编码器分步校准机器人，低成本提升定位精度。
A novel step-by-step procedure for the kinematic calibration of robots using a single draw-wire encoder
- 逐参数单独估计，仅需一维距离数据
- 仿真与实验验证后定位误差显著降低
- 适合工业现场快速部署的校准需求
机器人定位精度是高精度制造任务的关键。为有效提升机械臂精度至接近其重复性水平，校准至关重要。现有方法在测量系统和识别算法上差异较大。本文提出一种新颖的分步式运动学校准流程：逐个估计未知参数，仅使用拉线编码器获取的一维距离数据。通过解析推导，确定每组校准点，使测量值与预测值的偏差仅依赖于单一未知参数，从而降低计算负担并可能提高精度。在六自由度机械臂上进行了仿真与实验测试，结果验证了该策略的有效性。所提方法具有成本低、计算量小的优势，为标准校准提供了一种实用且易操作的替代方案。
原文摘要 · Abstract (English)
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the literature, various approaches to robot calibration have been proposed, and they range considerably in the type of measurement system and identification algorithm used. Our aim was to develop a novel step-by-step kinematic calibration procedure - where the parameters are subsequently estimated one at a time - that only uses 1D distance measurement data obtained through a draw-wire encoder. To pursue this objective, we derived an analytical approach to find, for each unknown parameter, a set of calibration points where the discrepancy between the measured and predicted distances only depends on that unknown parameter. This reduces the computational burden of the identification process while potentially improving its accuracy. Simulations and experimental tests were carried out on a 6 degrees-of-freedom robot arm: the results confirmed the validity of the proposed strategy. As a result, the proposed step-by-step calibration approach represents a practical, cost-effective and computationally less demanding alternative to standard calibration approaches, making robot calibration more accessible and easier to perform.
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