Research On Kinematics Calibration Technology Of Industrial Robot

Nowadays, modern production needs more complex process which makes greatimprovement for industrial robots.The improvement depends on an important featureinherent to industrial robots: accuracy. Hence, calibration and offsetting on the robot’skinematic model, and then improving the robot’s volumetric accuracy are urgentlyneeded in the field of robotics technology.This paper is part of a6DOF industrial robot’s self-calibration method for its poseand zero offsets, which based on PSDs(Position Sensitive Detectors) and virtual linearconstraint. In this paer, we selected the ABB IRB120industrial robot as research subject.Based on the analysis of PSD’s principle and industrial robot’s kinematic principle, wehave built a servo system for uncalibrated robot and the corresponding adaptive controlalgorithm, which laid the foundation for the actualizing of the aboving industrial robot’sself-calibration method.The main contribution can be summarized as follows:1.An appropriate PSD’s model was selected based on the research of PSD’s principle.And then, a corresponding signal processing circuit was built.2.An IRB120robot’s kinematic model was built based on its structure andparameters.3.By the research on the6DOF industrial robot’s self-calibration method for its poseand zero offsets, which based on PSDs and virtual linear constraint, a servo PSD systemfor uncalibrated robot and its corresponding adaptive control algorithm are built toaccurately position the laser beam at the center of the PSD sensor. Simulation withMatlab verified the system’s effectiveness.