Calibration of Industrial Robot Parameters Based on Standard Ball Dis-tance Constraints
LU Yi1,GE Wen-qi1,GUO Bin2
1. College of Metrology & Measurement Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
2. Hangzhou Wolei Intelligent Technology Co. Ltd, Hangzhou, Zhejiang 310018, China
Abstract Aiming at the problem that the absolute positioning accuracy of current industrial robots is low and limited in industrial applications, based on standard ball distance constraint, a new method for industrial robot parameter calibration was proposed. Firstly, the MDH model was used to establish the robot kinematics model. Secondly, the contact probe was mounted on the end flange of the industrial robot, and a triangular calibration platform was built. The platform was rigidly connected with three standard balls with a diameter of 25.4mm. The theoretical center of the ball between each two balls was 300mm. The probe was used to separately detect the points on the three standard spheres, and record the values of the corresponding joint angles. Finally, the spherical center coordinates of the standard sphere were obtained by least squares fitting, and the distance was constrained from the actual spherical center distance measured by the coordinate measuring machine, and the kinematic parameter error was obtained by using the Levenberg_Marquardt algorithm. A total of 5 platform orientation experiments were performed and error compensation verification was performed using data from 5 other platform directions. The experimental results show that the average spherical center distance deviation decreases from 2.6812mm to 0.5694mm, and the standard deviation decreases from 0.6738mm to 0.1407mm.
LU Yi,GE Wen-qi,GUO Bin. Calibration of Industrial Robot Parameters Based on Standard Ball Dis-tance Constraints[J]. Acta Metrologica Sinica, 2020, 41(9): 1048-1054.
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2020, Vol. 41 
