Abstract：Aiming at the requirements of the absolute accuracy and cooperation accuracy of dual-arm robots, based on the data of the three-target ball position measured by a laser tracker, using a minimax search algorithm, a robust calibration method for kinematic parameters of the dual-arm robot is proposed. The method is divided into two steps: Firstly, the geometric parameters of the left and right arms are calibrated separately. Three target balls are installed at the end of the left (right) arm, and the worst absolute positioning error of the three measurement points is used as an index function to ensure the robustness of the calibration process and the orientation accuracy of the end-point can also be improved. The quadratic sequence programming method is used to solve the nonlinear optimization problem with inequality constraints. Secondly, the transformation between the left and right arms can be identified. Taking the worst collaborative positioning error between the left and right arms in the three target ball as the target function, and the minimax algorithm is used to improve the cooperative pose accuracy between the two arms.
祖洪飞1，陈章位2,3，毛晨涛2，陈广初4，李杰4. 基于极小极大算法的双臂机器人精度提升方法[J]. 振动与冲击, 2022, 41(2): 312-320.
ZU Hongfei1，CHEN Zhangwei2,3, MAO Chentao2, CHEN Guangchu4, LI Jie4. Minimax algorithm for improving the accuracy of dual-arm robots. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(2): 312-320.
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