六轴串联机器人关节转角误差补偿及运动学标定

doi:10.3969/j.issn.1000-1158.2024.12.02

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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 robots 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.

Key words： geometric measurement kinematic calibration six-axis serial robot joint angle error compensation Chebyshev polynomial fitting positioning accuracy

Received: 02 July 2024 Published: 18 December 2024

PACS:	TB92
	TP242.2

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	Articles by authors
	CHEN Lifeng
	LIN Junyan
	WANG Ling
	LIN Jian1
	QINA Jiajie
	WANG Binrui

Cite this article:

CHEN Lifeng,LIN Junyan,WANG Ling, et al. Joint Angle Error Compensation and Kinematic Calibration of Six-axis Serial Robots[J]. Acta Metrologica Sinica, 2024, 45(12): 1753-1761.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2024.12.02 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2024/V45/I12/1753

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