研究目的
To improve the absolute positioning accuracy of industrial robots through a calibration method based on dual-PSD, proposing a simultaneous laser beam alignment method without pre-known parameters.
研究成果
The paper proves the stability of the system of nonlinear PSD when the robot task space is unknown and the motion model is nonlinear, laying the theoretical foundation for the research of calibration system. The designed adaptive control algorithm can stabilize the laser spot in the center of PSD, accurately estimating unknown parameters of the system.
研究不足
The kinematic model established by the dual PSD calibration system is nonlinear, making the separation of known and unknown elements challenging. The study focuses on theoretical foundation and simulation, requiring further experimental validation.
1：Experimental Design and Method Selection:
The study divides the motion of the end-effector into translational and rotational motions, designing separate controllers for each.
2：Sample Selection and Data Sources:
Uses a six degree of freedom robot manipulator (IRB120) with a laser pointer and position sensitive calibration fixture (PSCF) with two segmented PSDs.
3：List of Experimental Equipment and Materials:
ABB IRB120 robot manipulator, ABB robot controller (IRC5 Compact), laser pointer, camera fixture, and PSCF with two PSDs.
4：Experimental Procedures and Operational Workflow:
The calibration is implemented through locating the laser pointer at four different positions, aligning the laser beam with the centers of PSD1 and PSD
5：Data Analysis Methods:
Uses adaptive control law and estimation law based on Lyapunov function for stability analysis.
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