Calibration of Robot Kinematic Parameters Based on Laser Tracker

摘要

Link parameter errors of the industrial robot contribute to the most influence on its accuracy.In order to improve the accuracy of the robot,a laser tracker,which can implement highly accurate measurement and absolute distance measurement(ADM),as well as the corresponding CAM2 Measure 4.0 software were employed.Based on the movements constrain of the robot itself,the actual D-H model coordinate frames were rebuilt.Accordingly,the kinematic parameters were identified and precise mapping from the joint variables to the center position of the end-effector in the base frame was obtained.Results show that mean error and root mean sguare error are improved more than 400/0.The proposed calibration method is practical and generic.In addition,it can achieve better accuracy.