固定电机驱动的平面关节型机器人无参数运动学标定

针对传统平面关节型机器人（简称SCARA）运动臂质量大的缺点，设计一种固定电机驱动的SCARA。为提高其精度用无参数化标定的方法进行运动学标定，根据D-H方法，在空间坐标转换的基础上建立了该SCARA的数学模型，得到杆件间相对位置关系；通过外部测量设备测出末端执行器的位姿，利用运动学正逆解解出实际位姿与理论位姿之间驱动输入的差值，补偿到理论的输入中，得到补偿后的动平台位姿。通过计算机仿真表明该标定方法能极大提高末端执行器的位置精度，证明了无参数化标定方法的有效性和可靠性。

Non-Parametric Kinematic Calibration of Fixed-Motor-Driven Selective Compliance Assembly Robot Arm

To solve the disadvantage that the great weight of movement arm on conventional selective complianceassembly robot arm ( SCARA ) , this paper designed a fixed-motor-driven SCARA. Non-parametric calibration method wasapplied for kinematics calibration to improve the accuracy. According to D-H method. established the mathematicsmodel of SCARA robot based on the conversion of spatial coordinates and obtained the relative positional relationshipamong the connecting rods; through external measuring equipment to measure the position of the end-effector. Thedifference between actual position and expected position was obtained by solving direct kinematics and inversekinematics. Then the end-effector of posture can be compensated. The computer simulation results show that this methodcan effectively improve the positional accuracy of the end-effector. The validity and reliability of the mentioned method isverified.