A calibration method of robot kinematic parameters by drawstring displacement sensor. (21st October 2019)

• Record Type: Journal Article
• Authors: Gan, Yahui; Duan, Jinjun; Dai, Xianzhong
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 5(2019:Sep./Oct.)
• Publication Date: 2019-10-21
• Subjects: Kinematic parameters calibration -- drawstring displacement sensor -- deviation of the kinematic parameters -- absolute position accuracy; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419883072
• Languages: English
• ISSNs: 1729-8806

Abstract

Calibration of robot kinematic parameters can effectively improve the absolute positioning accuracy of the end-effector for industrial robots. This article proposes a calibration method for robot kinematic parameters based on the drawstring displacement sensor. Firstly, the kinematic error model for articulated robot is established. Based on such a model, the position measurement system consisting of four drawstring displacement sensors is used to measure the actual position of the robot end-effector. Then, the deviation of the kinematic parameters of the robot is identified by the least-squares method according to robot end-effector deviations. The Cartesian space compensation method is adopted to improve the absolute positioning accuracy of the robot end-effecter. By experiments on the EFORT ER3A robot, the absolute positioning accuracy of the robot is significantly improved after calibration, which shows the effectiveness of the proposed method.