论文标题
一种基于立方插值甲虫天线搜索方法的新机器人臂校准方法
A New Robot Arm Calibration Method Based on Cubic Interpolated Beetle Antennae Search Approach
论文作者
论文摘要
工业机器人臂对于智能制造至关重要。工业机器人臂通常享有其高度重复的定位精度，同时患有其绝对定位精度低，这极大地限制了其在高精度制造中的应用，例如汽车制造。为了解决这个热门问题，这项工作提出了一种基于立方插值甲虫天线搜索（CIBAS）的新型机器人臂校准方法。这项研究有三个想法：a）开发一种新型的CIBA算法，该算法可以有效地解决甲虫天线搜索算法中局部最佳的问题； b）利用粒子过滤器减少非高斯噪声的影响； c）提出了一种新的校准方法，其中包含CIBAS算法和粒子过滤器搜索最佳运动学参数。 ABB IRB120工业机器人组的实验结果表明，所提出的方法比几种最先进的校准方法获得了更高的校准精度。
Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly restricts its application in high-precision manufacture, like automobile manufacture. Aiming at addressing this hot issue, this work proposes a novel robot arm calibration method based on cubic interpolated beetle antennae search (CIBAS). This study has three ideas: a) developing a novel CIBAS algorithm, which can effectively addresses the issue of local optimum in a Beetle Antennae Search algorithm; b) utilizing a particle filter to reduce the influence of non-Gaussian noises; and c) proposing a new calibration method incorporating CIBAS algorithm and particle filter to searching the optimal kinematic parameters. Experimental results on an ABB IRB120 industrial robot arm demonstrate that the proposed method achieves much higher calibration accuracy than several state-of-the-art calibration methods.
