A new approach to improve absolute positioning accuracy of robot manipulators

摘要

Abstract This article describes a new calibration system for robot manipulators which improves their absolute positioning accuracy by using parameter‐estimation algorithms based on the Newton method. When 3D position data of the specified points on a manipulator and the joint encoder values are input to the calibration system, the system estimates the offset values of joint encoders, link lengths, and position and orientation of the manipulator base coordinate system with respect to the world coordinate system which is difficult to obtain by conventional calibration methods. This calibration system can be applied to various manipulator types by just changing the basic kinematic equations. The system employs an algebraic programming system called REDUCE to automatically reduce the manipulator kinematic equation and partial differential calculus in the Newton method. For efficiency, first only the arm part with three degrees of freedom and then the hand part are calibrated. The experimental results demonstrate the effectiveness of this system by reducing the robot's absolute positioning errors to the order of repeatability errors.