A Step Identification Method for Kinematic Calibration of a 6-DOF Serial Robot
In order to improve the kinematic calibration accuracy,this paper proposes a step identification method for link 6-DOF serial robot.Firstly,kinematic model of serial robot was established based on the D-H parameter method.And then,a step identification method (SIM) for robot calibration was presented,including the offset of sphere-cally mounted reflection (SMR) and Frame offset,and the robot parameters.Finally,a calibration experiment was carried out to verify the effectiveness of the proposed identification method.The results demonstrate that the accuracy of robot have an improvement of 50.31 % after calibration.Hence,the step identification method established in this study is feasible and efficient.
Serial robot Kinematic calibration Step identification method Laser tracker
Huaiyan Tang Zhenya He Yexin Ma Xianmin Zhang
Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, School of M Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, School of M
国际会议
广州
英文
1009-1020
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）