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

In recent years,countries around the world have paid more and more attention to the development of manufacturing industry.Germany,United States and China have respectively put forward “Industrial 4.0 Program” and “National Strategic Plan for Advanced Manufacturing” and “China Manufacturing 2025” manufacturing industry development strategy.These strategic planning are not only for the industrial development direction and become the country's important decision.With the continuous development of modern manufacturing industry,the application scope of industrial robots is becoming more and more wide,and the processing tasks are becoming more and more complex.Therefore,in order to meet the basic requirements of the development of the manufacturing industry,the absolute positioning accuracy of industrial robots is also getting higher and higher.These error factors will directly affect the robot pose error.Therefore,it is very important to calibrate the robot pose.The measuring arm with the indirect method based on the cone target and the error model of continuous parameter calibrate the robot pose,improving the absolute accuracy of the robot.The main research contents are as follows:1)Based on the theoretical knowledge of exponential product,the forward kinematics model of the KUKA-kr5 arc type industrial robot is established;2)Based on exponential product model,the error model of continuous parameters is established.The error model is simplified by Li Qunli algebras and the amount of calculation in the process of parameter identification and complexity is reduced;3)Studying the indirect measurement method of robot end position and posture and proposing a indirect measurement method based on the cone target,the research solved the problems that complex measurement process directly of robot pose and difficult to evaluate the measurement accuracy;4)Using measuring machine gathering robot pose data and carrying out calibration simulation experiments on KUKA-kr5 arc type industrial robot based on exponential product model,the research verified the validity and feasibility of the calibration method.