A distance error based industrial robot kinematic calibration method. Issue 5 (12th August 2014)

• Record Type: Journal Article
• Authors: Zhenhua, Wang; Hui, Xu; Guodong, Chen; Rongchuan, Sun; Sun, Lining
• Is Part Of: Industrial robot. Volume 41:Issue 5(2014)
• Page Start: 439
• Page End: 446
• Publication Date: 2014-08-12
• Subjects: Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-04-2014-0319
• Languages: English
• ISSNs: 0143-991X

Abstract

<abstract> <title> <x content-type="archive" xml:space="preserve">Abstract</x> </title> <sec> <title content-type="abstract-heading">Purpose</title> <p> – The purpose of this paper is to present a distance accuracy-based industrial robot kinematic calibration model. Nowadays, the repeatability of the industrial robot is high, while the absolute positioning accuracy and distance accuracy are low. Many factors affect the absolute positioning accuracy and distance accuracy, and the calibration method of the industrial robot is an important factor. When the traditional calibration methods are applied on the industrial robot, the accumulative error will be involved according to the transformation between the measurement coordinate and the robot base coordinate. </p> </sec> <sec> <title content-type="abstract-heading">Design/methodology/approach</title> <p> – In this manuscript, a distance accuracy-based industrial robot kinematic calibration model is proposed. First, a simplified kinematic model of the robot by using the modified Denavit–Hartenberg (MDH) method is introduced, then the proposed distance error-based calibration model is presented; the experiment is set up in the next section. </p> </sec> <sec> <title content-type="abstract-heading">Findings</title> <p> – The experimental results show that the proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically. </p> </sec> <sec> <title content-type="abstract-heading">Originality/value</title> <p> – The proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.</p> </sec> </abstract>