期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2018
卷号：108
期号：5
页码：052057
DOI：10.1088/1755-1315/108/5/052057
语种：English
出版社：IOP Publishing
摘要：In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.
