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Robot Calibration Sampling Data Optimization Method Based on Improved Robot Observability Metrics and Binary Simulated Annealing Algorithm
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DOI：10.3390/s24196171.png)
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Abstract
En 中文
As the societal demand for precision in industrial robot operations increases, calibration can enhance the end-effector positioning accuracy of robots. Sampling data optimization plays an important role in improving the calibration effect. In this study, a robot calibration sampling point optimization method based on improved robot observability metrics and a Binary Simulated Annealing Algorithm is proposed. Initially, a robot kinematic model based on the Product of Exponentials (POE) model and a generalized error model is established. By utilizing the least squares method, the ideal pose transformation relationship between the robot's base coordinate system and the laser tracker measurement coordinate system is derived, resulting in an error calibration model based on spatial single points. An improved robot observability metric combined with the Binary Simulated Annealing Algorithm (BSAA) is introduced to optimize the selection of calibration sampling data. Finally, the robot's parameter errors are obtained using a nonlinear least squares method. Experimental results demonstrate that the average end-effector positioning error of the robot after calibration can be reduced from 0.356 mm to 0.254 mm using this method.
Keywords:
sampling data optimization
calibration
Product of Exponentials model
observability metrics
industrial robot
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