A Method of Robot DH Parameter Calibration Based on the Genetic Algorithm

摘要

The kinematic DH parameters of the robot directly affect the movement accuracy of the robot. Therefore, it is vital to calibrate the DH parameters. The commonly used method for robot parameter calibration is to approximate the data using the least squares method based on the actual collected data. However, this method inevitably requires calculating the inverse kinematics solution of the manipulator, which is cumbersome and complicated. To avoid the complex calculations caused by the inverse kinematics of the robot, this paper constructs the DH parameter error model of the robot through forward kinematics, uses a genetic algorithm to iterate the DH parameter error as an individual, and obtains the optimized DH parameters. The genetic algorithm operators were designed to ensure species diversity and avoid falling into local optimality. Finally, the correctness of this method was verified through experiments, and the method can improve the accuracy of robot movement.