Research On Six Degree Of Freedom Industrial Robot Calibration Experiment

At present,the industrial robot has been developed from a single teaching machine to a high degree of freedom of the off-line programming flexible processing unit,which represented by the six degree of freedom series robot has been widely used in the field of Precision measurement.The six degree of freedom industrial robot is generally with higher repeat positioning accuracy,but the absolute positioning accuracy of robot is lower.We can reduce the error between the robot controller model and the actual machine by following four steps: kinematic modeling,actual measurement,parameter identification,and error compensation to improve the accuracy of off-line programming.The paper summarizes the existing industrial robot calibration technology,puts forward new calibration methods base on the existing industrial robot calibration,and completes kinematic model simulation through MATLAB,obtains the real position and orientation based on Leica AT960 absolute laser tracker system,uses SA software to realize the parameter identification,reduces the error of robot joints by external controller,and finally finish the experiment of Robot calibration.On the basis of the above work,I detect the position and orientation feature systematically according to the methods of robot's position and orientation feature detection,process test data through the Robot Check software,complete the position and orientation feature detection experiment to test the robot calibration results.The details include:Construction the method of the robot kinematics model,the positive solution and inverse solution are summarized.According to the geometrical relationship of the IRB1410 robot,the D-H method is strictly observed.The D-H parameters are obtained.The MATLAB parameters are obtained.The simulation results verify the correctness of the parameters,and provide theoretical support for the following identification and compensation;According to the IRB1410 type robot system with Leica AT960 absolute laser tracker system to build the hardware platform,the software platform is built based on SA software and robot check software.I analyze the error source of industrial robot,establish the error equation and introduce the method of SA software parameter identification.Finally,I achieve joint compensation complete calibration experiments by the external controller.In the detection method of accuracy of multiple directions,distance accuracy,repeatability,the robot pose and the step of the robot are set up to detect the position and orientation of robot.The pose characteristics experiment checked experiments show that the calibration method is practical and effective.After a large number of experiments,the accuracy of the IRB1410 type robot system can meet the nominal value of 0.04 mm,and the absolute positioning accuracy can reach 3~4 times.The test results show that the method of orientation detection is successful.Much data also provides technical support for the application of robot integration.