Optimal measurement for kinematic calibration of a six-DOF spatial robotic manipulator

Abstract

In this paper, the dynamics simulation model of the spatial robotic manipulator's joint, the servo motor model and the double closed-loop servo control model are established. The electromechanical co-simulation method is used to complete the simulation analysis of the accuracy of the manipulator's joint. Then, the co-simulation model is improved through the joint accuracy experiment. The calibration method of the spatial robotic manipulator based on Coordinate Measuring Machine (CMM) is proposed. With such calibration method, the air-bearing test-platform is used to modify the D-H parameters. In the end, the accuracy calibration experiment results prove the feasibility of this calibration method.