Development and Experimental Studies of an Identification Method of Kinematic Parameters for Industrial Robots without External Measuring Instruments

摘要

This paper proposes a method for the identification of kinematic parameters of multilink series industrial robots, which does not require the use of complex and expensive equipment for high-precision external measurements of the position and orientation of an end effector in a Cartesian coordinate system. This method, by means of simple and affordable tools, enables us to achieve a significantly increased accuracy of movement of end effectors in serial robots performing various technological operations. The proposed method is experimentally verified and can be applied directly in production lines.