The kinematic parameter error of serial robots is the main factor affecting their positioning accuracy, while kinematic parameter calibration is one of the effective methods to improve their positioning accuracy. This paper explores the calibration method for the positioning accuracy of end-effector of serial robots, to provide a calibration method including joint screw and joint variables. First, an actual kinematic model in exponential form is established in comprehensive considerations of kinematic parameter errors. Second, by differentiating the kinematic model, the paper proposes the linearized model between pose error, joint screw error, and joint variable error of end-effector of serial robot. Finally, the calibration simulation test is carried out using an industrial robot. The experimental results show that this method can effectively improve the positioning accuracy of the end effector of the serial robot.
A Pose Calibration Method for Serial Robots Considering Joint Variables
Lect.Notes Mechanical Engineering
International conference on Advancement in Materials, Manufacturing, and Energy Engineering ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Recent Advances in Applied Mechanics and Mechanical Engineering ; Kapitel : 14 ; 133-144
2023-08-09
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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