Study on real-time calibration and compensation of the coordinate measurement system for industry robot

摘要

The accuracy of the robot measurement system is greatly affected by the parameter variations due to the heating problems from the robot and environmental changes after long time operation.A real-time calibration method was presented to compensate the system parameters of the robot.Several fixed points in the space with different poses were measured during the measuring circle.According to the relationship between the coordinates of the fixed points and the robot parameters,the parameters of the robot variations were calculated and calibrated in real-time.The system measuring errors resuting from the robot parameter variations were effectively reduced.The experimental results show that the system measurement error is reduced from 0.5 mm to 0.2 mm.