High Degree Accuracy Modelling and Calibration of Serial Robots with Large Errors

摘要

The paper deals with the improvement of accuracy modelling and calibration process, in the case of serial robots with large errors. Beginning from the first degree kinematic modelling, a general third-degree modelling of errors in serial robot chains is generated and applied for a RRR Puma type serial robot-structure. The model is based on the use of error Jacobian matrices, namely first, second and third-degree error Jacobian, respectively. Through the high-degree error model, the end-effector positioning can be more accurately estimated. Furthermore, a general calibration algorithm based on the third degree error model is presented, with application for the same RRR serial manipulator. Finally, a numerical example of the proposed algorithms is presented and conclusions.