Abstract
Industrial robots are increasingly used in many applications where the positioning accuracy is of great importance. Kinematic calibration is an effective method to improve the positioning accuracy of industrial robots. In this paper, a new kinematic calibration method is proposed for six-axis serial industrial robots based on a single telescoping ballbar. The end of the robot to be calibrated is moved to a set of specific poses, and the actual distance between the tool center point (TCP) of the industrial robot and a fixed point in the world frame is measured by a telescoping ballbar. Through fitting the distance residual errors, the robot calibration problem is transformed into a nonlinear least-squares optimization problem. The optimization problem is solved using the Levenberg-Marquardt algorithm to derive the actual kinematic parameter errors of the robot. A simulation study demonstrates that the proposed method can effectively identify the kinematic parameter errors and the average position errors are reduced from 19.368 mm to 0.073 mm after calibration.
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Acknowledgments
This research was supported by the National Nature Science Foundation of China (Grant No. 51905346, No. 91648202 and No. 91948301)
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Wu, Z., Guo, P., Zhang, Y., Zhu, L. (2020). Kinematic Calibration for Industrial Robot Using a Telescoping Ballbar. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_24
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DOI: https://doi.org/10.1007/978-3-030-66645-3_24
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