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摘要
Purpose The purpose of this study is the presentation and research of a simple and rapid calibration methodology for industrial robot. Extensive research efforts were devoted to meet the requirements of online compensation, closed-loop feedback control and high-precision machining during the flexible machining process of robot for large-scale cabin. Design/methodology/approach A simple and rapid method to design and construct the transformation relation between the base coordinate system of robot and the measurement coordinate system was proposed based on geometric constraint. By establishing the Denavit-Hartenberg model for robot calibration, a method of two-step error for kinematic parameters calibration was put forward, which aided in achievement of step-by-step calibration of angle and distance errors. Furthermore, KUKA robot was considered as the research object, and related experiments were performed based on laser tracker. Findings The experimental results demonstrated that the accuracy of the coordinate transformation could reach 0.128 mm, which meets the transformation requirements. Compared to other methods used in this study, the calibration method of two-step error could significantly improve the positioning accuracy of robot up to 0.271 mm. Originality/value The methodology based on geometric constraint and two-step error is simple and can rapidly calibrate the kinematic parameters of robot. It also leads to the improvement in the positioning accuracy of robot.
- 出版日期2018
- 单位中国空间技术研究院; 北京理工大学
