A New Calibration Method and Experimental Study for Kinematic Parameters of Industrial Robot

摘要

The accuracy of industrial robot kinematics parameters directly affects its absolute positioning accuracy. Based on Modify Denavit-Hartenberg (MD-H) kinematics theory, a more accurate calibration method for kinematic parameters of industrial robots is proposed in this paper. It takes the kinematics parameters, deceleration ratio and coupling coefficient of the robot as error parameters to establish the error model. The calibration experiment and accuracy verification experiment are designed by laser tracker. After the introduction of the reduction ratio and the coupling coefficient calibration, the absolute positioning error of the robot in all directions has been greatly improved, and the overall average accuracy of the robot is increased by 91.42% compared with the uncalibrated, and is increased by 81.02% compared with the without introducing the deceleration ratio and coupling coefficient.