用带已知点距的标定板，低成本高精度校准机器人几何误差。
Geometric Robot Calibration Using a Calibration Plate
- 通过标定板上点间相对距离，识别机器人系统误差参数。
- 实验结果与激光跟踪仪相当，定位精度提升显著。
- 适合工厂现场快速部署，尤其适用于大型机械臂校准。
本文提出一种基于标定板的新型机器人几何校准方法，该标定板具有精确已知的测量点间距。利用标定板上两点间的相对测量值，确定系统的预设误差参数。相比传统激光跟踪仪或运动捕捉系统，该方法在机械鲁棒性、成本和便携性方面更具优势。文中详细描述了校准方法、标定板设计、误差系统的数学建模及参数识别过程。采用最小二乘法和约束优化求解误差参数。实验验证表明，该方法效果良好，校准精度可媲美激光跟踪仪。虽然建模针对龙门式机床，但方法不局限于此类机器人。
原文摘要 · Abstract (English)
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is used to determine predefined error parameters of the system. In comparison to conventional measurement methods, like laser tracker or motion capture systems, the calibration plate provides a more mechanically robust and cheaper alternative, which is furthermore easier to transport due to its small size. The calibration method, the plate design, the mathematical description of the error system as well as the identification of the parameters are described in detail. For identifying the error parameters, the least squares method and a constrained optimization problem are used. The functionality of this method was demonstrated in experiments that led to promising results, correlated with one of a laser tracker calibration. The modeling and identification of the error parameters is done for a gantry machine, but is not restricted to that type of robot.
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