CN109304730A - A kind of robot kinematics' parameter calibration method based on laser range finder - Google Patents
A kind of robot kinematics' parameter calibration method based on laser range finder Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention belongs to information measurement correlative technology fields, it discloses a kind of robot kinematics' parameter calibration method based on laser range finder, method includes the following steps: laser range finder is connected to robot to be calibrated by (1), test plate is placed in the working space of the robot；(2) mapping relations between robot end's coordinate system and robot base coordinate sys-tem and the mapping relations between laser range finder coordinate system and robot end's coordinate system are determined；(3) acquisition robot moves the reading value of corresponding joint angle angle value and the laser range finder every time；(4) multiple points are obtained, and determine kinematic parameter errors according to coplanar condition；(5) calibration is compensated to the kinematics parameters of the robot, obtains kinematic parameter errors and the size compared with the value of last time after having demarcated again, and then determine that calibration is completed or re-scaled.Measurement efficiency of the present invention is higher, easy to operate, easy to implement, and accuracy is higher.
Description
Technical field
The invention belongs to information measurement correlative technology field, in particular to a kind of robot motion based on laser range finder
Learn parameter calibration method.
Background technique
With the continuous expansion of the installation amount and application range of industrial robot (calling robot in the following text), industrially to robot
Various aspects of performance higher requirements are also raised, the especially pose accuracy of robot, such as absolute fix precision and repeat it is fixed
Position precision.Currently, the repetitive positioning accuracy of industrial robot is very high, 0.1 millimeter can reach, but its absolute fix precision is very
Difference can only achieve centimetre scale, and this precision is far from satisfying the control requirement of industry spot, cause robot localization smart
Spending reason not high, that application condition is big is geometric error of the robot in processing, production and assembling process, this fractional error is big
Generally account for the 90% of all error sources.Robot kinematics' parameter calibration is exactly by the geometric error of identification robot and to it
Compensating is the effective means for improving robot absolute fix precision to obtain higher absolute fix precision.Kinematics ginseng
Number calibration is generally divided into 4 modeling, measurement, parameter identification and error compensation steps.
With the development of robot field, researcher both domestic and external proposes many marks to improve the precision of robot
Determine method, mainly include following five kinds of scaling methods:
The first i.e. most popular parameter calibration based on location error model, measures machine with externally measured instrument
People end physical location, and make comparisons with robot theoretical position, position is established with the physical location of multiple groups point and theoretical position
The error differential equation, and then solve error parameter.Commonly measuring instrument such as laser traces instrument, three coordinate measuring machine etc. is all
It is demarcated based on this model, although laser traces instrument and three coordinate measuring machine measurement accuracy are high, expensive, operation is multiple
It is miscellaneous, demarcate low efficiency.
Second is the parameter calibration based on distance error model, and this method utilizes any two points of robot in space
Error model is established the characteristics of being equidistant in robot coordinate system and measurement coordinate system, and then solves kinematics parameters
Error.The common instrument of this method, such as the caliberating device based on stay wire sensor, industrially use such as dynalog company
Calibration measuring instrument is also based on this principle, however this instrument price is expensive, complicated for operation.
The third is the method using sensor, as the method for inertial sensor plus position sensor, laser sensor add
Caliberating device of PSD etc. and the image processing method based on imaging sensor etc., however, the caliberating device that the method uses
It is complicated for operation, it is expensive, and non-large-scale commercial.
4th kind is demarcated using artificial neural network, obtains the parameter error of robot using the above method first
With the mass data at joint of robot angle, and as exporting and input parameter trains neural network, and then when robot transports
When moving a certain position, neural network can calculate kinematic parameter errors herein, and compensate robot in real time and control
In system.The method can realize the real-time of error compensation, but it is bigger than normal to measure workload.
5th kind is that the method for applying physical constraint to robot end is demarcated, if face constraint or spherical surface constrain,
Face constraint or the spherical surface constraint equation of distal point are established, and then solves kinematic parameter errors, such as Zhong (Zhong X
L,Lewis J M,Francis L N N.Autonomous robot calibration using a trigger probe
[J] .Robotics and Autonomous systems, 1996,18 (4): 395-410.) propose a kind of plane restriction mould
Type, but the method is limited to manual operations, leads to the problems such as measurement accuracy is not high, and measurement efficiency is relatively low；For another example Chinese invention
(CN104608129A) a kind of robot plane disclosed in constrains scaling method, and this method is utilized to install in robot end and be visited
Needle, and the plane for keeping prober constraints parallel with robot basis coordinates axis in normal vector then realize robot kinematics' parameter
Calibration.But when being demarcated in this way, probe needs are contacted with calibrating block, since probe easily touches calibrating block
Cause calibrating block to move, and then results in the need for re-starting calibration, and the motion range very little of robot end's point, machine
Sufficient movement, calibration point do not concentrate on a certain smaller area of robot working space, are not distributed in machine sufficiently each axis of people
Device people's working space；Simultaneously because robot base coordinate sys-tem can not show, it is difficult to accomplish three planes when calibrating block is put
Normal vector is substantially parallel with robot base coordinate sys-tem, this generates great error when will lead to calculating, or even can not solve.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of machines based on laser range finder
People's kinematic calibration method, based on the work characteristics of existing scaling method, for robot kinematics parameter calibration side
Method study and has been designed.The calibration tool that robot kinematics' parameter calibration method needs to use is laser range finder
And test plate, structure is simple, and it is easy for installation, it is easily operated, and cost is relatively low, measurement main component is laser range finder, together
When ensure that the precision of calibration.It, can effective expanding machinery people in addition, test plate is placed in the working space of robot
Measure spatial dimension, it is ensured that sampled point is distributed in space uniform, is conducive to improve precision.
To achieve the above object, the present invention provides a kind of robot kinematics parameter calibration side based on laser range finder
Method, method includes the following steps:
(1) laser range finder and computer are connected to robot to be calibrated, while test plate being placed in
In the working space of the robot；
(2) determine that mapping relations and laser range finder between robot end's coordinate system and robot base coordinate sys-tem are sat
Mapping relations between mark system and robot end's coordinate system；
(3) each axis movement of the robot is controlled, the computer acquisition moves the joint angle of corresponding each axis every time
The reading value of angle value and the laser range finder, to obtain multiple groups measurement data；
(4) obtain multiple points according to obtained mapping relations and multiple groups measurement data, and according to multiple points of acquisition and
Coplanar condition determines the kinematic parameter errors of the robot；
(5) calibration is compensated to the kinematics parameters of the robot using obtained kinematic parameter errors, demarcated
Step (2) are repeated after complete and obtain kinematic parameter errors again to step (4), compare the kinematics parameters that front and back obtains twice
The size of error optimizes calibration process and goes to step (2) if calibrated kinematic parameter errors dissipate；Otherwise, it uses
Second of kinematic parameter errors obtained compensates calibration to the kinematics parameters of the robot, and calibration is completed.
Further, robot links coordinate system { i } is denoted as relative to the homogeneous transform matrix of link rod coordinate system { i-1 }Then:
In formula, αi, ai, θi, diRespectively indicate connecting rod corner, the length of connecting rod, joint of link rod coordinate system { i } (i=1 ... 6)
Angle and connecting rod offset distance.
Further, robot end's coordinate system { E } converts square relative to the pose of robot base coordinate sys-tem { B }
Battle arrayAre as follows:
In formula,Indicate module and carriage transformation matrix of the connecting rod i relative to connecting rod i-1；N, o, a are robot end's coordinate system
The unit vector of { E }；P is position vector of robot end's coordinate origin relative to robot base coordinate sys-tem origin；n,
O, a and P is { αi, ai, θi, di(i=1 ... 6) function.
Further, transformation matrix of the laser range finder coordinate system relative to robot end's coordinate system are as follows:
Further, the laser range finder is one-dimensional sensor, then its laser beam projects point is relative to laser range finder
The evolution matrix of coordinate system are as follows:
In formula, l is the measurement distance of laser range finder.
Further, homogeneous coordinates of the laser beam projects point under robot base mark system { B } on plate are tested are as follows:
The differential error expression formula of robot end's point are as follows: Pa-Pn=J Δ ρ, wherein PaIt indicates
The physical location of distal point, PnIndicate that the theoretical position of distal point, J indicate one 3 × 25 error coefficient matrix, Δ ρ is one
A 25 × 1 geometric error parameter vector.
Further, Δ ρ=[Δ a1 … Δa6 Δd1 … Δd6 Δα1 … Δα6 Δθ1 … Δθ6Δ l],
Wherein, Δ αi、Δdi、Δαi、Δθi(i=1 ... 6) is respectively the mistake between theory movement parameter and actual motion parameter
Difference.
Further, in step (4), multiple points are determined by obtained multiple groups measurement data；Later, by four in plane
Three vectors that point is constituted are coplanar, obtain the equation for meeting coplanar condition, and multiple points sequentially four compositions, one equation then obtains
Equation group comprising multiple equations uses least square method to the solving equations to obtain the kinematics ginseng of the robot
Number error.
Further, the kinematic parameter errors that front and back obtains twice are respectively Δ ρ and Δ ρ2If | | Δ ρ | | < | | Δ ρ2
| |, then calibrated kinematic parameter errors diverging.
Further, the computer is connected to the robot and the laser range finder, is used to blame acquisition machine
Person joint's angular data and laser range finder measurement data, and carry out data processing.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, base provided by the invention
It is mainly had the advantages that in robot kinematics' parameter calibration method of laser range finder
1. the calibration tool that the kinematic calibration method needs to use is laser range finder and test plate, structure
Simply, easy for installation, it is easily operated, and cost is relatively low, measurement main component is laser range finder, while ensure that the essence of calibration
Degree；
2. test plate is placed in the working space of robot, can effective expanding machinery people measurement spatial dimension,
Ensure that sampled point is distributed in space uniform, is conducive to improve precision；
3. being used to member planar constraint condition using test plate, and robot end is not flat with test in calibration process
The practical contact of plate, ensure that the precision of calibration；
4. using the plane restriction of coplanar condition, at the same avoid multiple measurement coordinate systems and robot base coordinate sys-tem it
Between multiple conversion, effectively reduce calculation amount and error source, ensure that the accuracy of calibration.
Detailed description of the invention
Fig. 1 is robot kinematics' parameter calibration method based on laser range finder that better embodiment of the present invention provides
Flow diagram；
Fig. 2 is using being demarcated in Fig. 1 based on robot kinematics' parameter calibration method of laser range finder
The calibration schematic diagram of robot；
Fig. 3 is the planar point schematic diagram for the test plate that the robot in Fig. 2 is related to.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 1- robot sheet
Body, 11- end flange, 2- bindiny mechanism, 3- laser range finder, 4- test plate, 5- computer.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Please refer to Fig. 1 and Fig. 2, robot kinematics' ginseng based on laser range finder that better embodiment of the present invention provides
Number scaling methods, robot kinematics' parameter calibration method it is easy to operate, the calibration facility price of use is lower, simultaneously
Also ensure the high-precision of kinematic calibration.
Robot kinematics' parameter calibration method based on laser range finder that present embodiment provides mainly includes following
Step:
Laser range finder 3 and computer 5 are connected to robot to be calibrated, while will test plate 4 by step 1
It is placed in the working space of the robot.The robot includes robot body 1, is connected to the robot body
End flange 11 and the bindiny mechanism 2 for being connected to the end flange 11, the robot body 1 are connected to the computer 5,
The bindiny mechanism 2 is fixedly connected with the laser range finder 3.The test plate 4 it is smooth up, and the shiny surface
Flatness is level-one or level-one or more.The laser beam that the laser range finder 3 issues is radiated at the smooth of the test plate 4
On face, the distance between described test plate 4 is maintained in the range of the laser range finder 3.The computer 5 is used for
The range data that the joint angular data and the laser range finder 3 for acquiring the robot measure.In present embodiment, the survey
It tries plate 4 to be arranged on dampening assembly, to prevent rotation and measure field of the motor of the robot in measurement process
The interference of vibration noise；Angle in measurement process, between the normal vector of the shiny surface of the laser beam and the test plate 4
Less than 60 DEG C.
Step 2 determines mapping relations and laser ranging between robot end's coordinate system and robot base coordinate sys-tem
Mapping relations between instrument coordinate system and robot end's coordinate system.Specifically, the kinematics mould of the robot is established
Type, the modeling method of common robot kinematics' model have classical DH method, 5 parameter MDH methods, CPC model, S model and POE mould
Type etc., classical DH method is because its principle is simple, is readily appreciated that, compared to other modeling methods answering in industrial robot field
With the most extensively, present embodiment also establishes the DH model of the robot using classics DH method.
DH model on each link joint of industrial robot by establishing joint coordinate system, and with four parameter characterizations
Each connecting rod, to establish the space coordinates of each connecting rod of robot.It is opposite that robot links coordinate system { i } is obtained by DH model
It is denoted as in the homogeneous transform matrix of link rod coordinate system { i-1 }Then:
In formula, αi, ai, θi, diThe connecting rod respectively indicated in the DH model parameter of link rod coordinate system { i } (i=1 ... 6) turns
Angle, length of connecting rod, joint angle and connecting rod offset distance.
Module and carriage transformation matrix of the robot end's coordinate system { E } relative to robot base coordinate sys-tem { B }Are as follows:
In formula,Indicate module and carriage transformation matrix of the connecting rod i relative to connecting rod i-1；N, o, a are robot end's coordinate system
The unit vector of { E }, P are position vector of robot end's coordinate origin relative to robot base coordinate sys-tem origin；n,
O, a and P is { αi, ai, θi, di(i=1 ... 6) function.In present embodiment, robot end's coordinate system { E } be with
The coordinate system that the end flange center of robot is established, the robot base coordinate sys-tem { B } is the base center with robot
The coordinate system of foundation；Laser range finder coordinate system { T } is built upon the coordinate system on laser range finder 3, coordinate origin setting
In the eye point of laser beam.
Transformation matrix of the laser range finder coordinate system relative to robot end's coordinate system are as follows:
The laser range finder 3 is one-dimensional sensor, and laser beam projects are on the test plate 4, then its laser beam
Evolution matrix of the incident point relative to laser range finder coordinate system are as follows:
In formula, l is the measurement distance of laser range finder.
Homogeneous coordinates of the laser beam transmission point under robot base mark system { B } are as follows:
The differential error expression formula of robot end's point are as follows:
Pa-Pn=J Δ ρ (6)
In formula, PaIndicate the physical location of distal point, PnIndicate that the theoretical position of distal point, J indicate one 3 × 25 mistake
Poor coefficient matrix, it may be assumed that
Δ ρ is one 25 × 1 geometric error parameter vector, it may be assumed that
Δ ρ=[Δ α1 … Δα6 Δd1 … Δd6 Δα1 … Δα6 Δθ1 … Δθ6 Δl] (8)
Wherein, Δ αi、Δdi、Δαi、Δθi(i=1 ... 6) is respectively theory movement parameter and actual motion parameter
Between error amount.
Step 3, controls each axis movement of the robot, and the computer acquisition moves the pass of corresponding each axis every time
The reading value of angle value and the laser range finder 3 is saved, to obtain multiple groups measurement data.Specifically, the robot is controlled
Each axis movement, it is mobile on a large scale that the robot end drives the laser range finder 3 to do repeatedly, keeps institute while mobile
The laser beam projects of the transmitting of laser range finder 3 are stated on the test plate 5, record the Laser Measuring when movement stops every time
The reading value l of distance meter 3 at this timeiAnd the joint angle angle value q of each axis of robot at this timei={ θ1, θ2, θ3, θ4, θ5, θ6, it is recorded as
One group of measurement data；Duplicate measurements is to obtain n group measurement data, and wherein n is more than or equal to 25+3, and it is 50 that present embodiment, which takes n,.
Step 4 obtains the point of identical quantity, and the point according to acquisition according to the multi-group data and mapping relations that obtain
And coplanar condition determines kinematic parameter errors.50 point P can be obtained by 50 groups of data that formula (5) obtaini(xi yi zi)i
∈ [0,50], it may be assumed that
It can be obtained in conjunction with formula (6) and formula (9):
In formula, Pi aIndicate i-th point of physical location；Pi nIndicate i-th point of nominal position, JiIt indicates at i-th of point
Differential Jacobi coefficient matrix；[…]TRepresenting matrix transposition.
Formula (11) progress difference vector is normalized to obtain:
It may be constructed three vectors by four points in plane, and three vectors meet coplanar condition and obtain formula (13):
Formula (13) are unfolded and are obtained after casting out second order and higher order term:
Note
Then it can be obtained:
HiΔρ+Xi=0 (15)
Four points can construct the equation shaped like formula (15), and sequentially 4 points constitute an equation to 50 points, then may be used
One equation group comprising 47 equations of construction:
H Δ ρ+X=0 (16)
Wherein, H=[H1, H2... H47]T, X=[X1, X2... X47]T。
Overdetermined equation (16) are solved using least square method to obtain:
Δ ρ=- H-1·X (17)
Obtained result is kinematic parameter errors.
Step 5 compensates calibration using kinematics parameters of the obtained kinematic parameter errors to the robot,
Step 2 is repeated after having demarcated to step 4 to obtain kinematic parameter error again, compares the kinematics parameters that front and back obtains twice
The size of error optimizes calibration process and goes to step 2 if calibrated kinematic parameter errors dissipate；Otherwise, it uses
Second of kinematic parameter errors obtained compensates calibration to the kinematics parameters of the robot, and calibration is completed.
Specifically, obtained kinematic parameter errors are compensated into kinematics model with the kinematics parameters to robot
Calibration is compensated, step 2 is repeated later to step 4 to obtain new kinematic parameter errors, is denoted as Δ ρ2。
Then, compare the size for the kinematic parameter errors that front and back obtains twice, if | | Δ ρ | | > | | Δ ρ2| |, then it is defeated
The kinematic parameter errors Δ ρ obtained for the second time out2, i.e., using the kinematic parameter errors obtained for the second time to the fortune of robot
Dynamic parameter of learning compensates calibration；If | | Δ ρ | | < | | Δ ρ2| |, i.e. calibrated kinematic parameter errors diverging, then second
The kinematic parameter errors that secondary operating process is obtained there are large error or for the first time are wrong, should optimize kinematics model at this time
And solution procedure (calibration process), and step 2 is gone to until obtaining satisfactory kinematic parameter errors.
Referring to Fig. 3, incident point of the laser range finder 3 on the test plate 5 is denoted as P1 point under a certain posture,
The reading l of the laser range finder 3 of record at this time1With joint angle q1={ θ1, θ2, θ3, θ4, θ5, θ6It is one group of data, change
The pose of the robot, repeats a upper process, available P2, P3, P4 ... Pn and n group data.The number of 4 points in N number of point
According to a composable equation, if the data of P1, P2, P3, P4 may make up first equation, the data of P2, P3, P4, P5 be may make up
Second equation；In n point, sequentially 4 points form an equation for front and back, amount to (n-3) a equation, because unknown errors parameter has
25, therefore should ensure that (n-3) > 25 when operation.
Robot kinematics' parameter calibration method provided by the invention based on laser range finder, the kinematics parameters mark
Determining the calibration tool that method needs to use is laser range finder and test plate, and structure is simple, easy for installation, easily operated, and
Cost is relatively low, and measurement main component is laser range finder, while ensure that the precision of calibration.In addition, test plate is placed on
In the working space of robot, can effective expanding machinery people measurement spatial dimension, it is ensured that sampled point is distributed in space uniform, is had
Conducive to raising precision.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of robot kinematics' parameter calibration method based on laser range finder, it is characterised in that:
(1) laser range finder and computer be connected to robot to be calibrated, at the same will test plate be placed in it is described
In the working space of robot；
(2) mapping relations and laser range finder coordinate system between robot end's coordinate system and robot base coordinate sys-tem are determined
With the mapping relations between robot end's coordinate system；
(3) each axis movement of the robot is controlled, the computer acquisition moves the joint angle angle value of corresponding each axis every time
And the reading value of the laser range finder, to obtain multiple groups measurement data；
(4) multiple points are obtained according to obtained mapping relations and multiple groups measurement data, and according to multiple points of acquisition and coplanar
Condition determines the kinematic parameter errors of the robot；
(5) calibration is compensated to the kinematics parameters of the robot using obtained kinematic parameter errors, after having demarcated
It repeats step (2) and obtains kinematic parameter errors again to step (4), compare the kinematic parameter errors that front and back obtains twice
Size, if calibrated kinematic parameter errors dissipate, optimize calibration process and go to step (2)；Otherwise, using second
The kinematic parameter errors of secondary acquisition compensate calibration to the kinematics parameters of the robot, and calibration is completed.
2. robot kinematics' parameter calibration method based on laser range finder as described in claim 1, it is characterised in that: machine
Device people link rod coordinate system { i } is denoted as relative to the homogeneous transform matrix of link rod coordinate system { i-1 }Then:
In formula, αi, ai, θi, diRespectively indicate the connecting rod corner, length of connecting rod, joint angle of link rod coordinate system { i } (i=1 ... 6) with
And connecting rod offset distance.
3. robot kinematics' parameter calibration method based on laser range finder as claimed in claim 2, it is characterised in that: institute
State module and carriage transformation matrix of the robot end's coordinate system { E } relative to robot base coordinate sys-tem { B }Are as follows:
In formula, n, o, a are the unit vector of robot end's coordinate system { E }；P is robot end's coordinate origin relative to machine
The position vector of device people's base coordinate system origin；N, o, a and P are { αi, ai, θi, di(i=1 ... 6) function.
4. robot kinematics' parameter calibration method based on laser range finder as claimed in claim 3, it is characterised in that: institute
State transformation matrix of the laser range finder coordinate system relative to robot end's coordinate system are as follows:
5. robot kinematics' parameter calibration method based on laser range finder as claimed in claim 4, it is characterised in that: institute
Stating laser range finder is one-dimensional sensor, then its evolution matrix of laser beam projects point relative to laser range finder coordinate system
Are as follows:
In formula, l is the measurement distance of laser range finder.
6. robot kinematics' parameter calibration method based on laser range finder as claimed in claim 5, it is characterised in that: survey
Try homogeneous coordinates of the laser beam projects point on plate under robot base mark system { B } are as follows:
The differential error expression formula of robot end's point are as follows: Pa-Pn=J Δ ρ, wherein PaIndicate end
The physical location of point, PnIndicate that the theoretical position of distal point, J indicate one 3 × 25 error coefficient matrix, Δ ρ is one 25
× 1 geometric error parameter vector.
7. robot kinematics' parameter calibration method based on laser range finder as claimed in claim 6, it is characterised in that: Δ
ρ=[Δ a1 … Δa6 Δd1 … Δd6 Δα1 … Δα6 Δθ1 … Δθ6Δ l], wherein Δ αi、Δdi、Δαi、
Δθi(i=1 ... 6) is respectively the error amount between theory movement parameter and actual motion parameter.
8. special such as the described in any item robot kinematics' parameter calibration methods based on laser range finder of claim 1-7
Sign is: in step (4), determining multiple points by obtained multiple groups measurement data；Later, three be made of four points in plane
A vector is coplanar, obtains the equation for meeting coplanar condition, and multiple points sequentially four compositions, one equation is then obtained comprising multiple sides
The equation group of journey uses least square method to the solving equations to obtain the kinematic parameter errors of the robot.
9. special such as the described in any item robot kinematics' parameter calibration methods based on laser range finder of claim 1-7
Sign is: the kinematic parameter errors that front and back obtains twice are respectively Δ ρ and Δ ρ2If | | Δ ρ | | < | | Δ ρ2| |, then it demarcates
Kinematic parameter errors diverging afterwards.
10. special such as the described in any item robot kinematics' parameter calibration methods based on laser range finder of claim 1-7
Sign is: the computer is connected to the robot and the laser range finder, is used to acquire joint of robot angular data
And the measurement data of laser range finder, and carry out data processing.
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