Techniques Based On Kinematic Parameters Of The Robot Calibration Point Constraints

Currently, the development of robot industry is in a revolutionary stage, the industrial robots have been using in various fields, including medical, aerospace, and so many high-tech fields. High accuracy robots are increasingly needed, so the research of robot calibration is even more far-reaching. This paper describes an industrial robot kinematics calibration method called the virtual line-based single-point constraint approach, both simulations and experiments implemented on an ABB IRB120industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system.A virtual line-based single-point constraint robot calibration system has been built. The system concludes four parts:industrial robot control module, two degrees freedom equipment of laser receiver control module, visual servo based robot positioning control module and PSD-based servo robot positioning control module. The software has been developed to connect these four modules.Direct and inverse kinematics equations of robot IRB120which map joint space into "camera space" are developed using D-H model, and the inverse kinematics of robot IRB120was solved using numerical solution. And also an optimization model and algorithm have been formulated.The virtual reality technology has been used to establish hardware and software of the calibration systems. The simulation environment has been established by using OpenGL. Under the simulation environment, the simulations of robot kinematic calibration have been implemented to verify the feasibility of the proposed method.Under the robot kinematic calibration systems, the experiment and analysis of robot kinematic calibration have been implemented on an ABB IRB120industrial robot to demonstrate the effectiveness of the developed calibration system, and also the feasibility of the proposed method has been verified.