Calibration for Kinematic Parameters of Industrial Robot by a Laser Displacement Sensor

摘要

The equipment used in kinematic calibration schemes is generally expensive and time-consuming, and requires skilled engineers. This paper proposes a new measurement method for identifying kinematic errors on a six degree of freedom industrial robot with a single laser displacement sensor. The three-dimensional deviations of the end-effector are calculated by an algorithm with data collected from the scanning procedure. Then, the kinematic parameters are identified by combining the joint angles, the deviations involved error information and an error model. The accuracy and efficiency are improved by the laser displacement sensor and the simple scanning procedure. The method presented in this paper can also be expanded to other serial industrial robots. The experimental results validate the effectiveness of the proposed method.