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研究生： 王珈瑋
Wang, Jia-Wei
論文名稱： 六軸機械手臂機構參數鑑定與補償
Calibration and Compensation of Kinematic Parameters of a Six-Axis Robot
指導教授： 雷衛台
Lei, Wei-Tai
口試委員: 吳隆庸
徐永源
學位類別： 碩士
Master
系所名稱： 工學院 - 動力機械工程學系
Department of Power Mechanical Engineering
論文出版年： 2017
畢業學年度： 105
語文別： 中文
論文頁數： 128
中文關鍵詞： 六軸機械手臂 、撓性 、參數鑑定 、六維運動量測裝置 、校正 、機構參數
外文關鍵詞： robot, compliance, parameter identification, MMD, calibration, kinematic parameters
相關次數： 點閱：3  下載：0 
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    • 　　六軸機械手臂的定位誤差主要來自幾何誤差與撓性誤差，針對幾何誤差的部分，使用國立清華大學自動化與生產實驗室開發的六維運動量測裝置，可量測機械手臂末端點的位置與指向，透過設計的量測路徑及程序，即能進行機械手臂參數的鑑定與分析。但若僅以幾何誤差進行機械手臂的補償校正，則在手臂伸展至較遠距離時，會由於機械手臂的自重會造成各軸關節減速機產生彈性變形，使末端點的定位精度變差。
    　　本研究藉區分機械手臂幾何誤差及關節撓性誤差，建立機械手臂的關節撓性誤差模型，開發出相關的參數鑑定方法，並透過鑑定所得之撓性與幾何參數，來補償機械手臂末端的定位誤差。經補償後，機械手臂絕對定位精度可改善80~90%。
    　　使用本方法進行參數鑑定之機械手臂，由於考慮到關節撓性形變造成之影響，透過精確之幾何誤差與撓性誤差模型，可在更換不同重量之終端效應器(end effector)後，藉由相同模型補償，使機械手臂維持極高的定位精度，適應不同負載與荷重的應用。

    The geometric errors and compliance errors are the main sources that effecting the total positioning error of a six-axis robot. The Motion Measurement Device (MMD) developed by APL, NTHU, is capable of performing full pose measurement of a robot. By using this device, the kinematic parameters of the robot can be identified through special designed path pattern and method. However, if the robot is only calibrated by the identified kinematic parameters, then when it stretches to some poses far from its base, the weight of each linkage will cause deflection at joints and linkages. As a result, the positioning accuracy of end effector will be worse.
    This research classifies the total positioning error of the robot into geometric errors and joint compliance errors, and proposes a new method to identify these error parameters. The robot can be calibrated by applying the identified error parameters into the derived error model which considers both errors. After calibration, the absolute positioning accuracy of the robot is improved by 80~90%.
    Because the joint compliance error is included in the error compensating model, the robot which is calibrated by the method of this research can maintain the positioning accuracy on applying another end effector that has a different weight.

    摘要 i Abstract ii 誌謝辭 iii 目錄 iv 圖目錄 vii 表目錄 xi 1. 前言 1 2. 文獻回顧 2 2.1. 工業用機械手臂 2 2.2. 機械手臂誤差來源 3 2.3. 工業用機械手臂校正與量測設備 4 2.3.1. FARO Laser Tracker 4 2.3.2. Etalon LaserTRACER 5 2.3.3. 三次元量床 6 2.3.4. Dynalog 3D CompuGauge 7 2.3.5. 其他量測設備 8 2.4. 六維運動量測裝置 9 2.5. 研究目的 10 3. 機械手臂與史都華平台運動學模型 11 3.1. 齊次轉換矩陣與基本坐標轉換 11 3.2. 機械手臂參數建模與鑑定方式 13 3.2.1. 誤差模型法 13 3.2.2. 單軸法 14 3.2.3. 機械手臂關節撓性變形模型 15 3.2.4. 撓性參數鑑定方法 18 3.2.4.1. 第2軸撓性參數鑑定方法 19 3.2.4.2. 第3軸撓性參數鑑定方法 22 3.2.4.3. 第4、5軸撓性參數鑑定方法 24 3.2.5. 參數同步鑑定方法 25 3.3. 機械手臂機構參數模型 27 3.3.1. 機械手臂坐標系 28 3.3.2. D-H參數表示法 28 3.3.3. 修正D-H參數表示法 30 3.3.4. 其他模型 31 3.4. 六維運動量測系統 32 3.4.1. 史都華平台逆向運動學 32 3.4.2. 史都華平台順向運動學 32 3.4.3. 三邊量測法坐標定義 34 3.4.4. 干涉碰撞分析 35 3.4.5. 工作空間分析 38 4. 虛擬機械手臂量測鑑定系統 40 4.1. 系統架構與規劃 40 4.2. 機械手臂運動模型 41 4.2.1. 機械手臂順向運動學 42 4.2.2. 機械手臂逆向運動學 43 4.3. 即時繪圖模擬介面 44 4.4. 鑑定路徑設計分析 46 4.4.1. 最大鑑定範圍分析流程 46 4.4.2. 分析結果 49 4.5. 虛擬鑑定系統 51 4.6. 虛擬量測系統 53 5. 機械手臂基礎參數量測實驗 55 5.1. 實驗用機械手臂與儀器 55 5.2. 重複精度與背隙量測 57 5.3. 旋轉解析度實驗 59 5.4. 質心與質量估計 61 6. 機械手臂參數鑑定與誤差量測實驗 62 6.1. 幾何與撓性參數鑑定實驗 62 6.1.1. 實驗設計 62 6.1.2. 鑑定所得參數 63 6.1.3. 實驗結果分析 65 6.1.3.1. 關節背隙值 65 6.1.3.2. 撓性參數 67 6.1.3.3. 旋轉角度誤差 70 6.2. 線性定位量測實驗 72 6.2.1. 參數選用 74 6.2.2. X軸定位量測 76 6.2.3. Y軸定位量測 77 6.2.4. Z軸定位量測 78 6.2.5. 六維運動量測裝置精度驗證 79 6.2.6. 線性量測實驗總結 81 6.3. 體積誤差量測 82 6.4. 工具更換定位實驗 85 6.4.1. 線性定位量測 85 6.4.1.1. X軸定位量測 87 6.4.1.2. Y軸定位量測 87 6.4.1.3. Z軸定位量測 88 6.4.1.4. 線性定位量測總結 89 6.4.2. 體積誤差量測 90 7. 結論 92 參考文獻 93 附錄 97 A. 不同位置鑑定參數之線性定位量測誤差分布 97 B. 線性定位量測結果 102 C. 六維運動量測裝置精度驗證 108 D. 體積誤差量測結果 117 E. 工具更換線性定位量測結果 120 F. 工具更換體積誤差量測結果 126

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