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Volume 40 Issue 5
May  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(5): 585-590.
Zhang Tie, Dai Xiaoliang, Du Lianget al. Robot error calibration based on distance measurement with parameter selection[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(5): 585-590. doi: 10.13700/j.bh.1001-5965.2013.0372(in Chinese)
Citation: Zhang Tie, Dai Xiaoliang, Du Lianget al. Robot error calibration based on distance measurement with parameter selection[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(5): 585-590. doi: 10.13700/j.bh.1001-5965.2013.0372(in Chinese)
shu

Robot error calibration based on distance measurement with parameter selection

doi: 10.13700/j.bh.1001-5965.2013.0372

  • School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China

  • Received Date: 27 Jun 2013
  • Publish Date: 20 May 2014
    Abstract
  • To eliminate singularity in robots' kinematics calibration, identifiable parameters in distance square difference model were confirmed. Robot's link structure was expressed by modified Denavit-Hartenberg (DH) model, while the transformation between last joint and tool frame by six parameters. The linear model from link parameter errors to distance's square difference of robot's end-effector was derived. After redundant parameters eliminated via redundant expressions and physical interpretation, complete and nonsingular model was identified by iterative least square algorithm. Experiment was conducted with a 6 rotational robot and Leica laser tracker. Measured target should be away from the last joint's axis in order to guarantee penultimate joint parameters identifiable when end-effector was designed. The result shows that the model avoids coordinate transformation, the error distance's root-mean-square of inspection data reduced 93.1% and completeness and non-singularity improved identification effectiveness.

     

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