Research of Calibration Method for Industrial Robot Based on Error Model of Position
Open Access
- 31 January 2021
- journal article
- research article
- Published by MDPI AG in Applied Sciences
- Vol. 11 (3), 1287
- https://doi.org/10.3390/app11031287
Abstract
Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.Keywords
Funding Information
- National Key Research and Development Program of China (2018YFB1308603)
This publication has 16 references indexed in Scilit:
- Non-kinematic calibration of a six-axis serial robot using planar constraintsPrecision Engineering, 2015
- A distance error based industrial robot kinematic calibration methodIndustrial Robot: the international journal of robotics research and application, 2014
- A calibration method of kinematic parameters for serial industrial robotsIndustrial Robot: the international journal of robotics research and application, 2014
- Optimal design and application of a low-cost wire-sensor system for the kinematic calibration of industrial manipulatorsMechanism and Machine Theory, 2014
- Absolute calibration of an ABB IRB 1600 robot using a laser trackerRobotics and Computer-Integrated Manufacturing, 2013
- Method of robot calibration based on laser trackerChinese Medical Journal, 2007
- Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning ProcedureIntelligent Automation and Soft Computing, 1999
- A technique to calibrate industrial robots with experimental verificationIEEE Transactions on Robotics and Automation, 1990
- Industrial Robot Forward Calibration Method and ResultsJournal of Dynamic Systems, Measurement, and Control, 1986
- Improving the absolute positioning accuracy of robot manipulatorsJournal of Robotic Systems, 1985