Research On The Calibration Of The Robot's Own Parameters Based On Line Error

With the continuous expansion of industrial robots and the continuous development of its technology,industrial production of the robot's performance requirements are increasingly high,especially high-precision industrial robots.Accuracy as an important indicator of performance evaluation of industrial robots,and evaluation of industrial robots accuracy of the main indicators of two,repeat the positioning accuracy and absolute positioning accuracy.Now most industrial robot have a high repeated of positioning accuracy,but its absolute positioning accuracy can not meet the needs of some industrial production.Therefore,finding a way to improve the absolute positioning accuracy of the robot is the key technology to improve the performance of industrial robots.In this paper,we studied the structure of 6-DOF industrial robot and analyzed it's kinematics characteristics.It is of great significance to improve the performance of industrial robots by applying the kinematic calibration method to improve the absolute positioning accuracy of industrial robots to meet the needs of industrial production.The main contents of this paper are as follows:1.Established the linear error calibration platform.The absolute position accuracy of the robot is measured by the difference between the length of the actual rope of the rope encoder and the distance from the origin of the robot coordinate system to the actual distance from the end of the robot tool to the field data collected using a high precision rope encoder.2.Established the kinematics model and its error model.In order to avoid the slight deviation between parallel joints,the MDH method is used to establish the joint coordinate system of six degrees of freedom industrial robot,and its kinematics model and its corresponding error model are established.3.Verified the feasibility of linear error calibration method.Based on the above kinematics model and its error model,a 6-DOF industrial robot is calibrated experimentally by establishing a good line error calibration platform.The experimental results show that the kinematic calibration method can improve the absolute positioning accuracy of the robot by seventy five percent.