Research On 6R Industrial Robot Calibration Methods And Algorithm Realization

With the rapid development of offline programming technology,People also put forward higher requirements for the robot positioning accuracy,how to improve the positioning accuracy of the robot is an important research subject that have to be considered.It is of great significance and practical value to improve the robot's application range and enhance the autonomy by using the calibration method which can improve the pose accuracy of robot and the accuracy of the off-line program.Firstly,this paper introduces the principle of robot parameter calibration and establishes calibration error model.And the sensitivity of the parameters of robot's positioning accuracy was analyzed according to the evaluation principle of robot pose accuracy,the influence of angle class parameters deviation and length class parameters deviation on the position accuracy of the robot were obtained respectively.The Matlab software is used to verify the calculation method.Secondly,some methods of robot tool parameters calibration were studied,this paper finishes the 3D design of robot self-calibration tool and proposes a calibration method based on spherical constraint.The simulation model was establishment in DELMIA software,and the Levenberg-Marquardt algorithm was used to identify the tool parameters,the validity and accuracy of the tool calibration method and algorithm were verified.At the same time,the final calibration method of robot hemming tool was established after some research work.For robots without tool installed,this paper proposes two kinds of workpiece parameter calibration methods based on spherical constraint and plane point constraint;And for robots with tool installed,this paper finishes the workpiece parameter calibration by using a dial indicator and a calibration target.Finally,the simulation and experiment were carried out to verify the validity and accuracy of the tool and workpiece parameters calibration.