CN104408299A - Position error compensation method for distance recognition superfluous kinematics parameter-based robot - Google Patents

Abstract

The invention discloses a position error compensation method for a distance recognition superfluous kinematics parameter-based robot. Superfluous parameters in kinematics parameters are removed firstly to determine recognizable kinematics parameters of the robot; then, calculation is performed to obtain a parameter error calculation model, and compensation is performed by aiming at a parameter error, so that the problem of a singular matrix can be avoided, the calculated amount is effectively reduced, and the accuracy is improved; moreover, a compensation effect is obvious; the standard deviation of a distance error of the robot is greatly reduced, and the positioning accuracy of the robot is greatly improved. The position error compensation method for the distance recognition superfluous kinematics parameter-based robot, disclosed by the invention, can be widely applied to the field of robot research.

Description

Robot location's error compensating method of redundancy kinematics parameters is identified based on distance

Technical field

The present invention relates to a kind of robot location's error compensating method, particularly relate to a kind of robot location's error compensating method identifying redundancy kinematics parameters based on distance.

Background technology

The repeatable accuracy of industrial robot is general all very high, and usually within 0.1mm, therefore early stage robot many employings teach programming only needs that repeatable accuracy is high can meet industrial requirement.But along with the range of application of robot expands further, robot off-line programming is also more and more general, and positioning precision is very low, cannot meet the accuracy requirement of off-line programing.The coordinate transform between measuring system coordinate system and robot coordinate system must be related to during the absolute positional accuracy of simultaneously robot measurement, this transformation matrix is difficult to Accurate Measurement, the measuring accuracy of whole measuring system is finally caused to reduce, therefore IS09283:1998 standard, adopts distance error to carry out accuracy detection for the robot of off-line programing specially.In existing document, Zhou Xuecai is different according to the coordinate of space any two points under different orthogonal coordinate system, but its distance is identical, and introducing distance carrys out the conversion between illness that has not attacked the vital organs of the human body robot coordinate system, and the method adopting distance error to detect is measured; Opening iron uses Hayati to obtain MDH model for DH model modification, introduces the micro component rotated around y-axis, meanwhile, and eliminates the micro component of respective link distance; Cai Hegao etc. utilize the relation between the actual geometric parameter of the D-H model inference revised robot and instrument position and attitude error; King's first-class adopts the D-H parameter model revised to set up the Model of locating error of robot relative positional accuracy.

Namely robot precision is detected by distance error method, robot coordinate system and the conversion of surving coordinate system can be reduced again and the error that increases, but above research distance model all uses the analytical approach of geometry, needs craftsmenship stronger; And compensate the kinematic parameter errors in whole joint, the error parameter matrix used in solution procedure can produce singular value, solve justice in singular value process and can lose the partial information of kinematics parameters.

Summary of the invention

In order to solve the problems of the technologies described above, the object of this invention is to provide one and can avoid occurring singular value, reduce the robot location's error compensating method identifying redundancy kinematics parameters based on distance of the error of calculation.

The technical solution adopted in the present invention is:

Identify robot location's error compensating method of redundancy kinematics parameters based on distance, comprise the following steps:

A, set up robot kinematics's model, obtain the transformation matrix of coordinates of end effector coordinate system relative to the basis coordinates system of robot of robot;

B, transformation matrix of coordinates carried out to robot kinematics's parameter error selection analysis and calculate, what obtain each joint of robot can identification kinematics parameters;

C, according to each joint of robot can identification kinematics parameters, calculate and compensate pseudo inverse matrix and joint of robot error parameter model;

D, the actual range obtained according to the instruction of end effector of robot distance, laser tracker measurements, can identification kinematics parameters, compensation pseudo inverse matrix and joint of robot error parameter model, calculate parameter error computation model;

E, control repeatedly move, the actual range that the instruction Distance geometry laser tracker measurement detecting the end effector of robot of each motion obtains;

F, according to parameter error computation model, to the actual range employing least square method that instruction Distance geometry laser tracker measurements detecting the end effector of robot of each motion obtained obtains, obtain robot kinematics's parameter error;

G, according to robot kinematics's parameter error, calculate robot motion's mathematic(al) parameter of making new advances, robot is compensated.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, carry out robot kinematics's parameter error selection analysis to transformation matrix of coordinates in described step B and calculate, it is specially:

QR decomposition is carried out to transformation matrix of coordinates.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, described step C comprises:

C1, according to each joint of robot can identification kinematics parameters, differential is carried out to kinematics parameters corresponding on any joint, obtains should the change in location matrix in joint;

C2, according to should the change in location matrix in joint, draw the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces;

C3, the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces is transformed to end effector of robot coordinate, obtain the differential error transformation matrix of end effector of robot;

The site error that C4, the basis coordinates being mapped to robot according to differential error transformation matrix and the articular kinesiology parameter error of end effector of robot produce, draws and compensates pseudo inverse matrix and joint of robot error parameter model.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, described robot kinematics's model adopts MDH kinematics model, and the end effector coordinate system of described robot passes through MDH kinematics model Parametric Representation relative to the transformation matrix of coordinates of the basis coordinates system of robot.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, in described step D, parameter error computation model is:

$\mathrm{\δk}=\frac{{\left|\right|D_{j,j+1}^a\left|\right|}^2-{\left|\right|D_{j,j+1}^c\left|\right|}^2}{2{\left(D_{j,j+1}^c\right)}^T(H_j-H_{j+1})},$

Wherein, δ k represents parameter error, represent the actual range that the laser tracker measurement of j and j+1 2 obtains, represent the instruction distance of the end effector of robot of j and j+1 2, H _jand H _j+1represent the compensation pseudo inverse matrix of j and j+1 2 respectively.

The invention has the beneficial effects as follows:

The present invention is based on distance and identify that robot location's error compensating method of redundancy kinematics parameters is by first rejecting the nuisance parameter in kinematics parameters, that determines robot can identification kinematics parameters, and compensate for this parameter, the problem running into singular matrix can be avoided, effective minimizing calculated amount, improve accuracy, and compensation effect is remarkable, greatly reduce the standard deviation of the distance error of robot, significantly improve robot localization precision.

Accompanying drawing explanation

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:

Fig. 1 the present invention is based on the flow chart of steps that distance identifies robot location's error compensating method of redundancy kinematics parameters;

Fig. 2 the present invention is based on the flow chart of steps that distance identifies robot location's error compensating method step C of redundancy kinematics parameters.

Embodiment

With reference to figure 1-Fig. 2, the present invention is based on robot location's error compensating method that distance identifies redundancy kinematics parameters, comprise the following steps:

A, set up robot kinematics's model, obtain the transformation matrix of coordinates of end effector coordinate system relative to the basis coordinates system of robot of robot;

B, transformation matrix of coordinates carried out to robot kinematics's parameter error selection analysis and calculate, what obtain each joint of robot can identification kinematics parameters;

C, according to each joint of robot can identification kinematics parameters, calculate and compensate pseudo inverse matrix and joint of robot error parameter model;

D, the actual range obtained according to the instruction of end effector of robot distance, laser tracker measurements, can identification kinematics parameters, compensation pseudo inverse matrix and joint of robot error parameter model, calculate parameter error computation model;

E, control repeatedly move, the actual range that the instruction Distance geometry laser tracker measurement detecting the end effector of robot of each motion obtains;

F, according to parameter error computation model, to the actual range employing least square method that instruction Distance geometry laser tracker measurements detecting the end effector of robot of each motion obtained obtains, obtain robot kinematics's parameter error;

G, according to robot kinematics's parameter error, calculate robot motion's mathematic(al) parameter of making new advances, robot is compensated.

Wherein, { 0} represents the basis coordinates system of robot, and { 1} ~ { 5} represents the coordinate system of joint of robot, and { 6} represents the end effector coordinate system of robot, and { M} represents outside surving coordinate system and laser tracker surving coordinate system. ⁰t _erepresent the transformation matrix of coordinates between the basis coordinates system of robot and the coordinate system of end effector of robot,

^MT ₆＝ ^MT ₀· ⁰T ₆

Then for:

⁰T ₆＝( ^MT ₀) ^-1· ^MT ₆＝A ₁A ₂A ₃A ₄A ₅A ₆

Basis coordinates for full rotation robot overlaps with the first axial coordinate of robot, and namely { 0} coordinate is the first joint coordinate system of robot body coordinate system.A ₁..., A ₆for monarthric homogeneous coordinates, adopt distance error discrimination method, the error of the basis coordinates system of robot and end effector error have nothing to do.

Kinematics model adopts D-H Parametric Representation usually, and the transformation matrix between adjacent two connecting rods is:

$\begin{array}{c}{A}_i=\mathrm{Rotz}\left({\mathrm{\θ}}_i\right)\mathrm{Tranx}\left(d_i\right)\mathrm{Tranx}\left(a_i\right)\mathrm{Rotx}\left({\mathrm{\α}}_i\right)\\ =\left[\begin{array}{cccc}c{\mathrm{\θ}}_i& -s{\mathrm{\θ}}_{i}c{\mathrm{\α}}_i& s{\mathrm{\θ}}_{i}s{\mathrm{\α}}_i& a_{i}c{\mathrm{\θ}}_i\\ s{\mathrm{\θ}}_i& c{\mathrm{\θ}}_{i}c{\mathrm{\α}}_i& -c{\mathrm{\θ}}_{i}s{\mathrm{\α}}_i& a_{i}s{\mathrm{\θ}}_i\\ 0& s{\mathrm{\α}}_i& c{\mathrm{\α}}_i& d_i\\ 0& 0& 0& 1\end{array}\right]\end{array}.$

But for two parallel joint shafts, less error can cause the error that end effector is very large, and DH model can not describe the subtle change between parallel joint shaft.MDH kinematics model have modified DH model, introduces torsional angle β _irepresent the rotation angle of each joint coordinate system relative to Y-axis, the transformation matrix A in joint _ibecome it is expressed as:

$\begin{array}{c}{A}_i^H=\mathrm{Rotz}\left({\mathrm{\θ}}_i\right)\mathrm{Tranx}\left(d_i\right)\mathrm{Tranx}\left(a_i\right)\mathrm{Rotx}\left({\mathrm{\α}}_i\right)\mathrm{Roty}\left({\mathrm{\β}}_i\right)\\ =\left[\begin{array}{cccc}c{\mathrm{\θ}}_{i}c{\mathrm{\β}}_i-s{\mathrm{\α}}_{i}s{\mathrm{\θ}}_{i}s{\mathrm{\β}}_i& -s{\mathrm{\θ}}_{i}c{\mathrm{\α}}_i& c{\mathrm{\θ}}_{i}s{\mathrm{\β}}_i+s{\mathrm{\α}}_{i}s{\mathrm{\θ}}_{i}c{\mathrm{\β}}_i& a_{i}c{\mathrm{\θ}}_i\\ s{\mathrm{\θ}}_{i}c{\mathrm{\β}}_i+s{\mathrm{\α}}_{i}c{\mathrm{\θ}}_{i}s{\mathrm{\β}}_i& c{\mathrm{\θ}}_{i}c{\mathrm{\α}}_i& s{\mathrm{\θ}}_{i}s{\mathrm{\β}}_i-s{\mathrm{\α}}_i{\mathrm{c\θ}}_{i}s{\mathrm{\β}}_i& a_{i}s{\mathrm{\θ}}_i\\ -c{\mathrm{\α}}_{i}s{\mathrm{\β}}_i& s{\mathrm{\α}}_i& c{\mathrm{\α}}_{i}c{\mathrm{\β}}_i& d_i\\ 0& 0& 0& 1\end{array}\right]\end{array}$

Writing a Chinese character in simplified form wherein: c represents cos, s represents sin.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, carry out robot kinematics's parameter error selection analysis to transformation matrix of coordinates in described step B and calculate, it is specially:

QR decomposition is carried out to transformation matrix of coordinates.

Calculate according to robot kinematics's parameter error selection analysis, carry out QR decomposition to transformation matrix of coordinates, what obtain each joint of robot in the present invention can identification kinematics parameters, and cognizable parameter reduces to 21 further can identified parameters.In the present invention, robot cognizable kinematics parameters table is as follows:

Table 1

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, described step C comprises:

C1, according to each joint of robot can identification kinematics parameters, differential is carried out to kinematics parameters corresponding on any joint, obtains should the change in location matrix in joint;

C2, according to should the change in location matrix in joint, draw the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces;

C3, the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces is transformed to end effector of robot coordinate, obtain the differential error transformation matrix of end effector of robot;

The site error that C4, the basis coordinates being mapped to robot according to differential error transformation matrix and the articular kinesiology parameter error of end effector of robot produce, draws and compensates pseudo inverse matrix and joint of robot error parameter model.

If the position of end effector of robot is x=g (k), k is the total movement mathematic(al) parameter of robot, k=[θ ₁a ₁d ₁α ₁β ₁θ _ia _id _iα _iβ _iθ _na _nd _nα _nβ _n]

For the change in location of the generation in each joint and the differential relationship of kinematics parameters be:

$\mathrm{\δ}{A}_i=A_i^a-A_i=A_i{\mathrm{\Δ}}_i$

Wherein, represent physical location.

To any one joint of robot, differential is carried out for the kinematics parameters on this joint can obtain:

$\mathrm{\δ}{A}_i=\frac{\∂A_i}{\mathrm{\δ}{\mathrm{\θ}}_i}\mathrm{\δ}{\mathrm{\θ}}_i+\frac{\∂A_i}{\∂d_i}\mathrm{\δ}{d}_i+\frac{\∂A_i}{\∂a_i}\mathrm{\δ}{a}_i+\frac{\∂A_i}{\∂{\mathrm{\α}}_i}\mathrm{\δ}{\mathrm{\α}}_i$

$\mathrm{\δ}{A}_i^H=\frac{\∂A_i^H}{\∂{\mathrm{\θ}}_i}\mathrm{\δ}{\mathrm{\θ}}_i+\frac{\∂A_i^H}{\∂d_i}\mathrm{\δ}{d}_i+\frac{\∂A_i^H}{\∂a_i}\mathrm{\δ}{a}_i+\frac{\∂A_i^H}{\∂{\mathrm{\α}}_i}\mathrm{\δ}{\mathrm{\α}}_i+\frac{\∂A_i^H}{\∂{\mathrm{\β}}_i}\mathrm{\δ}{\mathrm{\β}}_i$

Then Δ _ifor: Δ _i=(A _i) ^-1δ A _i

${\mathrm{\Δ}}_i=\left[\begin{array}{cc}{\mathrm{\φ}}_{3\×3}& {\mathrm{\ϵ}}_i\\ 0& 0\end{array}\right]$

4 × 4 matrixes ⁰t ₆front 3 × 3 submatrix represent end effector attitude, ε _irepresent end effector site error.

The site error that any one joint parameter error map of robot produces to the basis coordinates of robot is e _i:

$e_i=\left[\begin{array}{cccc}0& 0& 1& 0\\ a_{i}c{\mathrm{\α}}_i& a{\mathrm{\α}}_i& 0& 0\\ -a_{i}s{\mathrm{\α}}_i& c{\mathrm{\α}}_i& 0& 0\\ 0& 0& 0& 1\\ s{\mathrm{\α}}_i& 0& 0& 0\\ c{\mathrm{\α}}_i& 0& 0& 0\end{array}\right]\left[\begin{array}{c}\mathrm{\δ}{\mathrm{\θ}}_i\\ \mathrm{\δ}{d}_i\\ \mathrm{\δ}{a}_i\\ \mathrm{\δ}{\mathrm{\α}}_i\end{array}\right]=G_i\mathrm{\δ}{k}_i$

$e_i^H=\left[\begin{array}{ccccc}{a}_{i}s{\mathrm{\α}}_{i}s{\mathrm{\β}}_i& -c{\mathrm{\α}}_{i}s{\mathrm{\β}}_i& c{\mathrm{\β}}_i& 0& 0\\ a_{i}c{\mathrm{\α}}_i& s{\mathrm{\α}}_i& 0& 0& 0\\ -a_{i}s{\mathrm{\α}}_{i}c{\mathrm{\β}}_i& c{\mathrm{\α}}_{i}c{\mathrm{\β}}_i& s{\mathrm{\β}}_i& 0& 0\\ -c{\mathrm{\α}}_{i}s{\mathrm{\β}}_i& 0& 0& c{\mathrm{\β}}_i& 0\\ s{\mathrm{\α}}_i& 0& 0& 0& 1\\ c{\mathrm{\α}}_{i}c{\mathrm{\β}}_i& 0& 0& s{\mathrm{\β}}_i& 0\end{array}\right]\left[\begin{array}{c}\mathrm{\δ}{\mathrm{\θ}}_i\\ \mathrm{\δ}{d}_i\\ \mathrm{\δ}{a}_i\\ \mathrm{\δ}{\mathrm{\α}}_i\\ \mathrm{\δ}{\mathrm{\β}}_i\end{array}\right]=G_i\mathrm{\δ}{k}_i$

K _ifor any joint motions mathematic(al) parameter: when i joint is parallel with i+l joint, k _i=[θ _ia _id _iα _iβ _i] ^t, the kinematic parameter errors of joint i is δ k _i=[δ θ _iδ a _iδ d _iδ α _iδ β _i] ^t; The k when joint i is not parallel with i+l joint _i=[θ _ia _id _iα _i] ^t, kinematic parameter errors is δ k _i=[δ θ _iδ a _iδ d _iδ α _i] ^t.G _ifor robot inaccuracy matrix of coefficients.

For the error e that any one joint produces _i, be the error produced relative to robot basis coordinates, and actual measurement is end effector, therefore needs by these error transforms to end effector of robot coordinate, introduces ⁿu _ifor robot i-l joint is to the coordinate conversion matrix of robot end:

$U_i^n=A_{i+1}{A}_{i+2}\·\·\·A_n=\left[\begin{array}{cccc}{n}_i^u& o_i^u& a_i^u& p_i^u\\ 0& 0& 0& 1\end{array}\right]$

J _iby any joint i-l to the error transform of the differential transform of end effector to end effector of robot, J _ifor the differential error of robot end converts, Ji solves correspondence ⁿu _iin each vector.

$J_i=\left[\begin{array}{cccccc}{n}_{\mathrm{ix}}^u& n_{\mathrm{iy}}^u& n_{\mathrm{iz}}^u& {(p_i^u\×n_i^u)}_x& {(p_i^u\×n_i^u)}_y& {(p_i^u\×n_i^u)}_z\\ o_{\mathrm{ix}}^u& o_{\mathrm{iy}}^u& o_{\mathrm{iz}}^u& {(p_i^u\×o_i^u)}_x& {(p_i^u\×o_i^u)}_y& {(p_i^u\×o_i^u)}_z\\ a_{\mathrm{ix}}^u& a_{\mathrm{iy}}^u& a_{\mathrm{iz}}^u& {(p_i^u\×a_i^u)}_x& {(p_i^u\×a_i^u)}_y& {(p_i^u\×a_i^u)}_z\end{array}\right]$

X represents that end effector of robot is to basis coordinates system of robot position x=[p _x, p _y, p _z], δ x is that robot is for the measurement robot location of gained and the error of robot instruction position.

Then joint of robot error parameter model is:

$\mathrm{\δx}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{J}_i{e}_i=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{J}_i{G}_i\mathrm{\δ}{k}_i=\mathrm{H\δk}$

Wherein, H represents supplementary pseudo inverse matrix.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, described robot kinematics's model adopts MDH kinematics model, and the end effector coordinate system of described robot passes through MDH kinematics model Parametric Representation relative to the transformation matrix of coordinates of the basis coordinates system of robot.

As the described further improvement identifying robot location's error compensating method of redundancy kinematics parameters based on distance, in described step D, parameter error computation model is:

$\mathrm{\δk}=\frac{{\left|\right|D_{j,j+1}^a\left|\right|}^2-{\left|\right|D_{j,j+1}^c\left|\right|}^2}{2{\left(D_{j,j+1}^c\right)}^{\mathrm{TT}}(H_j-H_{j+1})},$

Wherein, δ k represents parameter error, represent the actual range that the laser tracker measurement of j and j+1 2 obtains, represent the instruction distance of the end effector of robot of j and j+1 2, H _jand H _j+1represent the compensation pseudo inverse matrix of j and j+1 2 respectively.

The position of robot any two points j and j+1 is:

X _j=f (k ^j) and x _k=f (k ^j+1)

Coordinate for robot instruction's gained is with coordinate surveying instrument being measured to gained is with

Distance for two point coordinate of robot arbitrary motion is: x _{j, j+1}=x _j-x _j+1

Then 2 instruction distances are:

Then 2 actual ranges are:

Due to δ x _j=H _jδ k, δ x _j+1=H _j+1δ k,

The error that robot any point is measured between gained and instruction gained is:

$\mathrm{\δ}{x}_j=x_j^a-x_j^c=H_j\mathrm{\δk},$

$\mathrm{\δ}{x}_{j+1}=x_{j+1}^a-x_{j+1}^c=H_{j+1}\mathrm{\δk}$

The actual range that j and j+1 is 2 is:

Adopt square being expressed as of actual range:

$\begin{array}{c}{\left|\right|D_{j,j+1}^a\left|\right|}^2={\left|\right|x_j^a-x_{j+1}^a\left|\right|}^2={\left|\right|(f\left(k^j\right)+\mathrm{\δ}{x}_j)-(f\left(k^{j+1}\right)+\mathrm{\δ}{x}_{j+1})\left|\right|}^2\\ ={\left|\right|x_j^c+H_j\mathrm{\δk}-(x_{j+1}^c+H_{j+1}\mathrm{\δk})\left|\right|}^2\end{array}$

Ignore quadratic term:

${\left|\right|D_{j,j+1}^a\left|\right|}^2={\left|\right|D_{j,j+1}^c\left|\right|}^2+2{\left(D_{j,j+1}^c\right)}^T(H_j-H_{j+1})\mathrm{\δk}$

Therefore, show that parameter error computation model is:

$\mathrm{\δk}=\frac{{\left|\right|D_{j,j+1}^a\left|\right|}^2-{\left|\right|D_{j,j+1}^c\left|\right|}^2}{2{\left(D_{j,j+1}^c\right)}^T(H_j-H_{j+1})},$

Then adopt least square method, by the result of repeated detection, multiple distance errors of formation, draw robot kinematics's parameter error then basis calculate the kinematics parameters made new advances, robot is compensated.

The kinematics parameters table that robot obtains after compensating is as follows:

Table 2

More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.

Claims (5)

1. identify robot location's error compensating method of redundancy kinematics parameters based on distance, it is characterized in that: comprise the following steps:

A, set up robot kinematics's model, obtain the transformation matrix of coordinates of end effector coordinate system relative to the basis coordinates system of robot of robot;

B, transformation matrix of coordinates carried out to robot kinematics's parameter error selection analysis and calculate, what obtain each joint of robot can identification kinematics parameters;

C, according to each joint of robot can identification kinematics parameters, calculate and compensate pseudo inverse matrix and joint of robot error parameter model;

D, the actual range obtained according to the instruction of end effector of robot distance, laser tracker measurements, can identification kinematics parameters, compensation pseudo inverse matrix and joint of robot error parameter model, calculate parameter error computation model;

E, control repeatedly move, the actual range that the instruction Distance geometry laser tracker measurement detecting the end effector of robot of each motion obtains;

F, according to parameter error computation model, to the actual range employing least square method that instruction Distance geometry laser tracker measurements detecting the end effector of robot of each motion obtained obtains, obtain robot kinematics's parameter error;

G, according to robot kinematics's parameter error, calculate robot motion's mathematic(al) parameter of making new advances, robot is compensated.

2. the robot location's error compensating method identifying redundancy kinematics parameters based on distance according to claim 1, is characterized in that: carry out robot kinematics's parameter error selection analysis to transformation matrix of coordinates in described step B and calculate, it is specially:

QR decomposition is carried out to transformation matrix of coordinates.

3. the robot location's error compensating method identifying redundancy kinematics parameters based on distance according to claim 1, is characterized in that: described step C comprises:

C1, according to each joint of robot can identification kinematics parameters, differential is carried out to kinematics parameters corresponding on any joint, obtains should the change in location matrix in joint;

C2, according to should the change in location matrix in joint, draw the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces;

C3, the site error that the basis coordinates that this articular kinesiology parameter error is mapped to robot produces is transformed to end effector of robot coordinate, obtain the differential error transformation matrix of end effector of robot;

The site error that C4, the basis coordinates being mapped to robot according to differential error transformation matrix and the articular kinesiology parameter error of end effector of robot produce, draws and compensates pseudo inverse matrix and joint of robot error parameter model.

4. the robot location's error compensating method identifying redundancy kinematics parameters based on distance according to claim 1, it is characterized in that: described robot kinematics's model adopts MDH kinematics model, the end effector coordinate system of described robot passes through MDH kinematics model Parametric Representation relative to the transformation matrix of coordinates of the basis coordinates system of robot.

5. the robot location's error compensating method identifying redundancy kinematics parameters based on distance according to claim 1, is characterized in that: in described step D, parameter error computation model is:

，

Wherein, represent parameter error, D ^a _{j, j+1}represent the actual range that the laser tracker measurement of j and j+1 2 obtains, D ^c _{j, j+1}represent the instruction distance of the end effector of robot of j and j+1 2, H _jand H _j+1represent the compensation pseudo inverse matrix of j and j+1 2 respectively.