A new method for recognizing geometric parameters of industrial robots

摘要

Intelligent algorithms that are commonly used to obtain errors in the geometric parameters of industrial robots have a low accuracy, easily fall into the local optimal solution, and involve complicated coding such that they are unsuitable for use in engineering. In this study, we first apply the D-H method to establish a model of error in industrial robots, and then use the set of errors in their geometric parameters as the objective function. Following this, we improve the accuracy of global optimization of the particle swarm optimization (PSO) algorithm by drawing on the wandering behavior of the wolf pack algorithm and hybridization behavior of the genetic algorithm. We balance the convergence of the PSO algorithm by using a linearly diminishing weight. This leads to an improved PSO algorithm that can accurately determine errors in the geometric parameters of industrial robots. We compared our improve PSO algorithm with commonly used particle swarm algorithms, and the results showed that the former had a higher accuracy of convergence on average. Moreover, the errors in the geometric parameters obtained by the improved PSO algorithm can enhance the accuracy of localization of errors in industrial robots.