Home Position and Tool Coordinates Calibration for 6-DOF Robot Based on Fixed-point Constraint

摘要

Abstract In the application process of industrial robots, it is necessary to ensure that the home position is correct when the robot changes the end tool, so that the coordinate values of tool can be calculated more accurately and the accuracy of the robot’s trajectory can be satisfied. A comprehensive calibration method of tool coordinates and home position of serial industrial robots based on fixed-point constraints is presented in this paper. Based on Denavit-Hartenberg (D-H) kinematics theory, the error models of tool coordinates and home position errors of 6-DOF serial industrial robots are established. By constraining the tool center point (TCP) of the robot with fixed points, the joint data of calibration points with different postures at the same position are collected, and the error value of the controlled object is identified by the least square algorithm. The calibration experiment results are basically consistent with the factory calibration parameters, which proves the feasibility of the calibration algorithm.