Multi-objective position control for an industrial robot calibration system

摘要

Calibration is crucially important for the accuracy of industrial robots. Traditional calibration methods for joint offsets usually required a complicated setup and considerable expenditures. We have proposed a dual-PSD (Position Sensitive Device) based industrial robot calibration system to calibrate the industrial robot in minutes. The laser alignment formulated as a multi-objective position control problem is a fundamental issue for the system. It requires controlling a laser beam to shoot at the center of one PSD and meanwhile controlling its reflected laser beam to shoot at the center of another PSD. This paper investigates the modeling of this problem and proposes a simultaneous control approach to perform the multi-objective position control. The effectiveness of the designed method is illustrated through simulation and experimental results.