The Research On Industrial Robot Calibration Based On 5-Parameter Model

This research is mainly about the calibration of the industrial robot. The forward kinematics and the inverse kinematics are studied. Based on this kinematics model, the error modeling and the compensation algorithm are focused on.The errors which affect the position and pose precision of the robot are analyzed and the error model of the static errors is established by using five-parameter method which is an amendment of the classical D-H parameters. This method need not to differentiate the parameters or accept the assumption that all the errors are tiny and the coupling effect of different errors is ignorable. In this error model the errors are defined with a homogeneous matrix, which includes both position error and pose error.An algorithm to compensate the errors, both position error and pose error is designed according to the feature of the error model. This algorithm deals the error matrix which defined by the error model directly. The simulation shows that it could reduce the errors, even the errors are large. The large errors are reduced gradually by its iteration process.A lot of robot simulations are programmed with Mathematica in the whole research work, including the kinematics, the error modeling and the compensation algorithm. The simulation methods used in the research are helpful to the researchers of robotics.A calibration experiment carried out with the robot in our lab base on theory and simulation work. The result of the experiment proves that this method is workable in robot calibration and it could improve the precision largely.