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| Calibration Algorithm and Experimental Research of Cooperative Robot Based on Laser Tracker |
| CHEN Xiang-jun1,3,ZUNONG Gulinaer2,XUE Zi3,LI Da-chao1,BAN Zhao3,4,REN Guo-ying2,3 |
1. State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University,Tianjin 300072, China
2. Xinjiang Uygur Autonomous Region Research Institute of Measurement and Testing, Urumqi, Xinjiang 830011, China
3. National Institute of Metrology, Beijing 100029, China
4. College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China |
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Abstract In order to improve the absolute positioning accuracy of the robot end,a method for calibrating the geometric parameters of the robot based on laser tracker measurement is proposed to identify and compensate the parameter errors of the cooperative robot.In order to avoid singularity when the two axes of the robot arm are parallel,MDH parameter method is used to establish the error model. In order to define the measurement data on the same coordinate axis,the robot tool coordinate transformation is combined (the translational transformation of the target ball′s center point relative to the robot′s terminal coordinate system),and the levenberg marquardt (LM) method is used to identify the model parameter error of the robot.Through the simulation,experimental calculation and calibration of JAKA cooperative robot,the average error,the standard deviation and the maximum error of the robot are reduced respectively by 70.58%,56.76% 57.44%.The results show that the calibration algorithm can effectively identify the model parameter errors of the robot,and compensate the model parameters of the robot to improve the absolute positioning accuracy.
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Received: 13 May 2020
Published: 24 May 2021
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| Fund:the National KeyResearch and Development Program of China;the National KeyResearch and Development Program of China |
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2021, Vol. 42 
