Research On Kinematics Parameters Calibration Method Of Industrial Robot Based On Geometric Constraints

At present,the absolute positioning accuracy of the industrial robot is very low.Based on this,the applications of industrial robots are limited.The parameter calibration of industrial robots can effectively improve the absolute positioning accuracy.However,the current calibration methods of industrial robots have many shortcomings,such as the high cost of calibration,the complexity of calibration process,and the need for professional experimenters to operate.In view of the above problems,a geometric constraint calibration method for kinematic parameters of industrial robots is proposed.It can reduce the cost,simplify the process and reduce some complicated calculation.This paper analyzed the structural characteristics of industrial robots.Based on that,the kinematic model of industrial robots was established.In order to verify the correctness of the model and whether it can be used in the subsequent calibration,the simulation experiment was carried out.A calibration method for kinematic parameters of industrial robots based on geometric constraint was proposed.Created the simulation by using MATLAB and Robotics Toolbox,according to the results we can see that this program was effective and can be applied to practical situations.At last,the calibration experiment was done on the LNC S6000 industrial robot.Through the calibration experiment of the industrial robot,the kinematics parameters errors are acquired.The kinematic model is modified by using these parameters.The deviations between the theoretical line segment and the actual line segment before and after calibration are compared.According to the results,this method is very effective on improving absolute positioning accuracy.The point constraint method is used to verify and analyze the experimental results.The standard deviation,maximum deviation and average deviation of the position errors of industrial robots are used as evaluation indicators.According to calculation and analysis,the absolute positioning accuracy of industrial robots is improved.