Research on kinematic parameter calibration of handling robot

摘要

Aiming at the low accuracy of the existing handling robot, a method of compensating the error by handling the kinematic parameters of the robot is proposed. Based on the modified D-H kinematics model and the differential idea, the error model is linearized. At the same time, in order to connect the robot distance error and the absolute positioning error, the distance error model is established, and the relationship between the robot distance error and the kinematic parameter error is established. The least square method is used to solve the geometric parameters and improve the positioning accuracy of the robot. Finally, the 6-DOF handling robot was tested by monocular vision principle. The experimental results show that the mean value of the absolute value of the distance error is reduced by 77.1% compared with the compensation.