Research of kinematics parameter calibration for robot manipulator based on measuring method

摘要

Robot calibration is one of the key technologies of off-line programming, and measuring method is an important factor which restrict its development. According to this, this paper gives an analysis of robot modeling errors, which is based on the robot error source, and gives an easy way of measuring the six degree freedom robot, and based on that, a real robot kinematics model is set up. According to the result of measurement, it also sets up a complete, proportional and consecutive kinematical model that identify the geometric structure of the robot parameters easily, and the robot's absolute accuracy is improved.