Joint Angle Error Compensation and Kinematic Calibration of Six-axis Serial Robots

CHEN Lifeng; LIN Junyan; WANG Ling; LIN Jian1; QINA Jiajie; WANG Binrui

doi:10.3969/j.issn.1000-1158.2024.12.02

PDF(689 KB)

Acta Metrologica Sinica ›› 2024, Vol. 45 ›› Issue (12) : 1753-1761. DOI: 10.3969/j.issn.1000-1158.2024.12.02

Joint Angle Error Compensation and Kinematic Calibration of Six-axis Serial Robots

CHEN Lifeng¹,LIN Junyan^2,3,WANG Ling^2,3,LIN Jian¹,QINA Jiajie¹,WANG Binrui^2,3

Author information +

History +

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

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

CHEN Lifeng,LIN Junyan,WANG Ling,LIN Jian1,QINA Jiajie,WANG Binrui. Joint Angle Error Compensation and Kinematic Calibration of Six-axis Serial Robots[J]. Acta Metrologica Sinica. 2024, 45(12): 1753-1761 https://doi.org/10.3969/j.issn.1000-1158.2024.12.02

References

[1]NUBIOLA A, BONEV I A. Absolute calibration of an ABB IRB1600 robot using a laser tracker [J]. Robotics and Computer-Integrated Manufacturing, 2013, 29(1): 236-245.
[2]MARWAN A, SIMIC M, IMAD F. Calibration method for articulated industrial robots [J]. Procedia Computer Science, 2017, 112: 1601-1610.
[3]XIE Z, ZONG P, YAO P, et al. Calibration of 6-DOF industrial robots based on line structured light [J]. Optik, 2019, 183: 1166-1178.
[4]GAN Y, DUAN J, DAI X. A calibration method of robot kinematic parameters by drawstring displacement sensor [J]. International Journal of Advanced Robotic Systems, 2019, 16(5): 1-9.
[5]SHEN H, MENG Q, LI J, et al. Kinematic sensitivity, parameter identification and calibration of a non-fully symmetric parallel Delta robot [J]. Mechanism and Machine Theory, 2021, 161: 104311.
[6]NGUYEN H N, ZHOU J, KANG H J. A calibration method for enhancing robot accuracy through integration of an extended Kalman filter algorithm and an artificial neural network [J]. Neurocomputing, 2015, 151(3): 996-1005.
[7]田志程, 古华光, 宋汉文. 基于视觉测量与神经网络的工业机器人位姿补偿 [J]. 力学季刊, 2022. 43(2): 281-288.
TIAN Z C, GU H G, SONG H W. Industrial Robot Pose Compensation Based on Vision-Based Measurement and Neural Network [J]. Chinese Quarterly of Mechanics, 2022, 43(2): 281-288.
[8]BHATT P M, KULKARNI A, MALHAN R K, et al. Optimizing part placement for improving accuracy of robot-based additive manufacturing [C]// 2021 IEEE International Conference on Robotics and Automation (ICRA).Xi′an, China, 2021: 859-865.
[9]MA L, BAZZOLI P, SAMMONS P M, et al. Modeling and calibration of high-order joint-dependent kinematic errors for industrial robots [J]. Robotics and Computer-Integrated Manufacturing, 2018, 50: 153-167.
[10]ZHAO H, ZHAO J, LIN Y, et al. A new calibration method and experimental study for kinematic parameters of industrial robot [C]// 2020 IEEE International Conference on Artificial Intelligence and Electromechanical Automation (AIEA). Tianjin, China, 2020: 221-227.
[11]MAO C, CHEN Z, ZU H, et al. An enhanced POE-based method with identified transmission errors for serial robotic kinematic calibration [C] // 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE).Vancouver, Canada, 2019: 1568-1573.
[12]占加林. 基于预标定的工业机器人绝对定位误差补偿与实验研究 [D]. 合肥: 合肥工业大学, 2018.
[13]李锦龙, 刘传耙, 孙涛, 等. 面向并联骨折手术机器人的复位轨迹自动式规划方法 [J]. 机械工程学报, 2022. 58(5): 26-33.
LI J L, LIU C P, SUN T, et al. Automatic Planning Method of Reduction Trajectory for Parallel Fracture Surgery Robot [J]. Journal of Mechanical Engineering, 2022, 58(5): 26-33.
[14]WANG L, WU X, KANG Z, et al. Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker [J]. Industrial Robot: the international journal of robotics research and application, 2023, 50(6): 993-999.
[15]JIANG Y, YU L, JIA H, et al. Absolute positioning accuracy improvement in an industrial robot [J]. Sensors, 2020, 20(16): 4354.
[16]LANDGRAF C, ERNST K, SCHLETH G, et al. A hybrid neural network approach for increasing the absolute accuracy of industrial robots [C] // 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE).Lyon, France, 2021: 468-474.
[17]MAO C, LI S, CHEN Z, et al. Robust kinematic calibration for improving collaboration accuracy of dual-arm manipulators with experimental validation [J]. Measurement, 2020, 155: 107524.

[18]江小辉,李栩翔,孙翼飞,等. 基于双目视觉距离误差测量的工业机器人运动学标定方法[J]. 计量学报,2024,45(10):1470-1479.
JIANG X H, LI X X, SUN Y F, et al. Kinematic Calibration of Industrial Robots Based on Binocular Vision Distance Error Measurement[J]. Acta Metrologica Sinica, 2024,45(10):1470-1479.