1. The First Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou, Zhejiang 310003, China
2. School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
3.Zhejiang Province Key Laboratory of On-line Testing Equipment Calibration Technology Research, China Jiliang University, Hangzhou, Zhejiang 310018, China
Abstract：The kinematic calibration of robots is one of the hot research topics in the field of geometric measurement.Existing kinematic calibration methods for serial robots generally overlook the issue of joint angle error compensation.Based on the analysis of experimental data on joint angle errors of a six-axis serial robot, a joint angle error compensation method using Chebyshev polynomial fitting is proposed, followed by the kinematic calibration of the robots body after compensating for the joint angle errors.Subsequently, an experiment is conducted on the ABB IRB 1410 robot using a laser tracker to verify the joint angle error compensation and kinematic calibration.The experimental results show that the proposed method can reduce the mean absolute positioning error of the robot from 2.11mm to 0.66mm.The research provides a theoretical foundation and technical conditions for further improving the positioning accuracy of robots.
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2024, Vol. 45 
