Calibration Of Industrial Robot Kinematics Parameters Based On Line Structured Light Sensor

The repeatability of industrial robots is very high,but the absolute positioning accuracy is very low.Based on such characteristics,the application of industrial robots is limited.Therefore,improving the absolute positioning accuracy of industrial robots to extend the application range of industrial robots.The current industrial robot parameters calibration methods had problems such as high instrument cost,complicated measurement,and large calculation amount.Aiming at the above problems,a calibration method for kinematics parameters of industrial robot based on line structured light sensor was proposed.This method can effectively reduce the calibration cost,simplify the experimental process and reduce some cumbersome calculations in the calibration process.In this paper,an industrial robot calibration system based on line structure light sensor was built for industrial robot.The measurement model of line structured light sensor and hand-eye relationship model are analyzed in detail.Based on this,the line structured light sensor and hand-eye relationship were calibrated.The D-H kinematics model of industrial robots was analyzed,a calibration equation for kinematics parameters of industrial robots with a fixed point constraints was established.According to the calibration equation,the calibration experiment was designed to calibrate the kinematics parameters of industrial robot.The data results of the parameters calibration were obtained through experiments,and finally the verification experiment was designed for the calibration results.Through the calibration experiment and data processing,more accurate kinematics parameters of industrial robots are obtained.These parameters are corrected in the ideal kinematics model,and the deviation between the theoretical line segment and the actual line segment length before and after calibration were compared.The average error is reduced by more than 50%,and the standard deviation is reduced by more than 42%.According to the analysis,the absolute positioning accuracy of the industrial robot was improved.