| Industrial robots are applied more and more to manufacturing.However,the absolute accuracy of the robot is very low.Most of industrial robots are working at very poor conditions which will even more affect accuracy of industrial robots.In order to improve the absolute positioning accuracy of robot and adapt it to the new production requirements such as intelligent manufacturing,this paper proposes a method to calibrate industrial robot based on MDH model to improve absolute accuracy of robot.Based on the calibration of industrial robot,a robot visual guidance system is being performed,which provides a reference for intelligent manufacturing.Based on the analysis of robot main body and working characteristics,the industrial robot is modeled by MDH model to identify the linkage and shaft parameters of industrial robot.On the basis,robot kinematics inverse solution and Jacobian matrix are used to analyze the robot.Least squares algorithm is designed by calculation programs to solve error parameters of robot.The compensation of robot error is performed by using results of error parameters.The design and composition of the visual guidance system are introduced in detail.The key technologies of the visual guidance system are analyzed.The hand-eye relationship and the recognition algorithm of the workpiece are established between the robot and the camera.A set of visual guidance system is achieved through the computer,camera and robot controller of the joint programming.Finally,based on the established mathematical model of the robot,the calibration of the industrial robot is tested.The accuracy of the calibration result is verified by the experimental and the experimental results.The accuracy of the absolute accuracy of robot has improved significantly.Then,by comparing the precision of robot visual guidance system before and after the calibration,the validity of robot calibration to improve the accuracy of visual guidance system is verified. |
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