面向具身智能的消毒机器人运动学标定与精度补偿方法

成军; 范伟龙; 邵金燕; 周雪媚

doi:10.11959/j.issn.2096-6652.202507

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面向具身智能的消毒机器人运动学标定与精度补偿方法

专栏：具身智能与特种机器人 | 更新时间：2025-06-10

- 面向具身智能的消毒机器人运动学标定与精度补偿方法
- Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot
- 智能科学与技术学报 2025年7卷第1期页码：77-85
- 作者机构：
  
  1.北京大学工学院先进制造与机器人系，北京 100871
  2.中机科（北京）车辆检测工程研究院有限公司，北京 102100
  3.民政部一零一研究所，北京100070
- 作者简介：
  
  [ "成军（1989- ），男，博士，北京大学工学院博士后，主要研究方向为机器人运动学与动力学分析、控制理论研究、标定与参数辨识方法等。" ]
  [ "范伟龙（1990- ），男，中机科（北京）车辆检测工程研究院有限公司工程师，主要研究方向为车辆结构设计、运动规划与控制等。" ]
  [ "邵金燕（1979- ），女，博士，北京大学工学院副研究员，主要研究为移动机器人自主导航算法、避障算法、目标检测算法等。" ]
  [ "周雪媚（1975- ），女，博士，民政部一零一研究所研究员，主要研究方向为殡葬行业消毒卫生防护、消毒机器人与殡葬设备研究等。" ]
- 基金信息：
  
  国家重点研发计划项目(2022YFC3800400)
- DOI：10.11959/j.issn.2096-6652.202507
  中图分类号： TP242
- 收稿日期：2024-08-26，
  
  修回日期：2024-10-25，
  
  纸质出版日期：2025-03-15
- 稿件说明：
移动端阅览
成军,范伟龙,邵金燕等.面向具身智能的消毒机器人运动学标定与精度补偿方法[J].智能科学与技术学报,2025,07(01):77-85.

CHENG Jun,FAN Weilong,SHAO Jinyan,et al.Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):77-85.
成军,范伟龙,邵金燕等.面向具身智能的消毒机器人运动学标定与精度补偿方法[J].智能科学与技术学报,2025,07(01):77-85. DOI： 10.11959/j.issn.2096-6652.202507.

CHENG Jun,FAN Weilong,SHAO Jinyan,et al.Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):77-85. DOI： 10.11959/j.issn.2096-6652.202507.

摘要

提高消毒机器人的定位精度和增强其实时性是实现具身智能的重要前提，对于达成致病性微生物的高灭杀率至关重要，可以为医院、殡仪馆等场所的卫生安全提供有力保障。基于此，提出了一种消毒机器人运动学标定与精度补偿方法。首先，基于旋量理论提出一种运动学模型和误差模型的建模方法；其次，对运动区域进行划分并对特征点数据进行采样；再次，基于最小二乘法提出一种误差辨识算法，并通过采样数据实现辨识；最后，将定位误差补偿至机器人的末端位置，实现了精度补偿，并通过仿真实验验证了该方法的正确性。所提方法可以在保证实时性的同时大幅提高消毒机器人的定位精度，提升机器人的具身智能水平，为提高病菌的灭杀率和实现特殊场所的可靠防控提供了有力保障。

Abstract

Improving the positioning accuracy and real-time performance of disinfection robots are important prerequisites for achieving embodied intelligence

which is crucial to achieve a high sterilization rate of pathogenic microorganism

and can provide a strong guarantee for the health and safety of hospitals

funeral homes and other places. Therefore

a method for kinematics calibration and accuracy compensation of disinfection robot is proposed. First

a modeling method of kinematic model and error model based on screw theory is proposed. Second

the moving region is divided and the feature point data is sampled. Third

an error identification algorithm based on least square method is proposed

and the identification is realized by sampling data. Finally

the positioning error is compensated to the end position of the robot

and the accuracy compensation is realized. The correctness of the proposed method is verified by simulation experiments. The kinematic calibration and accuracy compensation method proposed can greatly improve the positioning accuracy of disinfection robot while ensuring real-time performance

enhance the level of robot's embodied intelligence

and provide a strong guarantee for improving the killing rate of germs and realizing reliable prevention of special places.

关键词

Keywords

references

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