Geometrical Approach for Industrial Robot Axis Calibration Using Laser Tracker

Abstract

Absolute accuracy of industrial robots as well as good repeatability is very important technical characteristics in such tasks like machining operations and using the robot as a measuring system. The goal of work is to propose a geometrical approach for axis orientation parameters calibration of industrial robot based on laser tracker measurement. For the process of parameters identification using CPA-analysis, that allows determinate positions of robot joint axes. This article demonstrate procedures that permit change first axes orientation of 6 DOF industrial robot kinematic for compensation of the non-coaxiality and non-perpendicularity of some axis solving direct kinematic. Our approach is based on conjoint rotation. Obtained functions approximated by polynoms.