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首页> 外文期刊>Journal of robotic systems >Improved Manipulator Performance Through Local D-H Calibration
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Improved Manipulator Performance Through Local D-H Calibration

机译：通过本地D-H校准提高了机械手性能

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This article deals with the subject of increasing the positioning accuracy of a manipulator beyond what is typically obtained via Denavit-Hartenberg (D-H) calibration. It is commonly accepted that one method for accomplishing this requires including "extra" terms (such as static deflection) in the D-H model. Another technique, which is experimentally verified and quantified in this article, is that of local calibration. Rather than continually introducing more and more modeling terms, we restrict the workvolume of the manipulator. One contribution of this article is an experimental investigation of local calibration. Most data indicates that local calibration offers advantages and it quantifies that the approximate improvement on one particular PUMA 560 robot is as much as four times better than global calibration. Some data indicates that it is not always true that "localizing" the calibration is an improvement. The article also discusses the problem of recognizing bad calibration data. We demonstrate a technique for identifying and removing "bad" data. Finally, the article shows that the locality of workvolume must include a consideration of the joint motions as well. For example, it presents results when data is taken with the arm in a single configuration, and in multiple configurations.
机译：本文讨论了如何提高机械手的定位精度，使其超出通常通过Denavit-Hartenberg（D-H）校准获得的精度。公认的一种实现此目的的方法要求在D-H模型中包括“额外”项（例如静态挠度）。本文通过实验验证和量化的另一种技术是局部校准。我们没有不断引入越来越多的建模术语，而是限制了操纵器的工作量。本文的一项贡献是对本地校准的实验研究。大多数数据表明，本地校准具有优势，并且可以量化为一台特定的PUMA 560机器人的近似改进要比全局校准好四倍。一些数据表明，“本地化”校准并非总是可以实现的。本文还讨论了识别不良校准数据的问题。我们演示了一种识别和删除“不良”数据的技术。最后，该文章表明，工作区的位置也必须包括对关节运动的考虑。例如，当手臂以单一配置和多种配置获取数据时，它将显示结果。

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