A Robotic Calibration Method Based On Portable Articulated Coordinate Measuring Machine

Today,the modern industrial process is becoming more perfect,and the development of science and technology is changing rapidly.The high-end equipment manufacturing industry is gradually moving towards automation and intelligence.Industrial robots play an increasingly important role in modern industrial production due to their high automation,intelligence and high efficiency.The main works of this paper supported by National Natural Science Foundation Project “ Research on the innovation theory of robot multi-parameter identification and the calibration system for improving the absolute positioning accuracy”(No.: 51875165)which mainly carried out systematic research on a robotic calibration method based on Portable Articulated Coordinate Measuring Machine.The research contents of this article are as follows:1.Establish a kinematic parameter model of the robot.Based on the structure and working characteristics of UR5 industrial robot,a kinematics model of industrial robot based on D-H model is established.At the same time,the error sources that affect the accuracy of the robot are analyzed and the error model is established.2.Derive the robot parameter calibration model.The robot parameter calibration model based on single point error is derived to improve the relative pointing accuracy of the robot.First,the base standard system of the robot is converted to the base standard system of PACMM.Then the robot parameter identification model based on the single point error is established based on the base standard system of PACMM.3.Research on parameter identification methods.Firstly,the Gauss-Newton algorithm and LM algorithm commonly used to solve the nonlinear least squares problem in practical engineering are introduced.Then,the simulation experiment of robot parameters identification is carried out by MATLAB.4.Robotic calibration experiment based on PACMM.Firstly,the mechanical structure,modeling method and related software of PACMM used in the experiment are introduced.Secondly,the experimental platform for robotic calibration is built.Finally,the modeling methods introduced in this paper is verified by experiments,and the correctness and effectiveness of the algorithm are verified.