Research On Robot Position And Rotation Calibration Method Based On The Precision Of Spatial Mesh

In recently years, the world powers put forward many manufacturing revival plan respectively, such as: German's “industrial 4.0”, America's “advanced manufacturing country strategic plan”, China's “made in china 2025”. The development direction of manufacturing is intelligent and improves resource utilization, and the application of industrial robots is an important embody of intelligent manufacturing. Robot's application field and application number will increase greatly, and as the reliability and applicability of robot must meet the basic requirement of manufacturing industry development.During the production of industrial robots, due to the imprecision of the parts manufacturing and the inevitable deviation in assembly process, the robot's performance and applicable scope has been greatly influenced. Because of calibration can effectively improve robot's performance index, so studied calibration and the method based on spatial grid precision to calibrate robot's posture error technique has been proposed in this paper. In this thesis, constructed spatial precision control mesh in Cartesian coordinate to calibrate robot's positioning error, and constructed spatial precision control mesh in Euler angle space to calibrate robot's posing error. Then the robot's posture error has been calibrated. After calibration the robot's positioning precision and posing precision have been improved totally. Work content of this thesis is as follows:1) Study the D-H parameters method and exponential product formula method, and learn how to use these means to construct robot's forward kinematic model. Then find out each method's advantage and disadvantage as well;2) Set up spatial precision control mesh in Cartesian space and Euler space, respectively. Compare the results of robot's calibration by different space grid structure, and find out the ideal space precision control mesh model;3) Base on constructed spatial precision control grid and inverse distance weighted interpolation method and particle swarm optimization neural network to compensate robot's posture error;4) Calibrate robot uses the method proposed in this paper, and validates the proposed method.