Research On Kinematic Parameter Calibration Technology Of Industrial

With the rapid development of economy and technology, industrial robots received great support from the government. With the widely application of industrial robots, the accuracy of industrial robots was put forward higher requirements. Therefore, the research on industrial robot calibration have more significant meaning. This paper studied the robot kinematic parameters calibration techniques, calibrated the kinematic parameters of ABB IRB120 industrial robot which has six DOFs in the experiments and compensated the kinematic errors. Thereby, the absolute positioning accuracy of the industrial robot was highly improved.Firstly, this paper analyzed the kinematic parameters of IRB120 industrial robot which has six DOFs and used classical method DH model to build the kinematics model of the industrial robots. On this basis, this paper deduced the forward kinematics equation and researched on the method for calculating inverse kinematic equation of industrial robot.The overall scheme of the calibration system is elaborated and it is divided into three parts:visual servo、PSD servo and industrial robot control module. Then this paper proposes the zero offset calibration method based on PSD servo, which includes error model, single-point constraint, multi-points constraint and optimization model. After that this paper do research on kinematic parameters calibration, elaborate and deduce the formulas of the error model, spherical constraints and the optimization models.According to the calibration scheme, this paper build both zero offset calibration and kinematic parameters calibration system of industrial robots. The calibration system consists of industrial robots、industrial cameras、PSD、cradle head industrial robots and calibration software system. Both simulation and experiments on zero offset calibration were implemented in this paper. The simulations on single-points and multi-points constraint both in ideal condition and noisy condition were implemented and compared. This paper did experiment on IRB 120 industrial robots and verified it. After that this paper did simulation and experiment on the whole kinematics parameters calibration. The simulation results of single-sphere constraint and multi-sphere constraint had been compared and analyzed. At last, experiments on IRB120 industrial robot under multi-sphere method was executed. The results verified the feasibility and reliability of the kinematic parameter calibration method.