NDLI: Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

Content Provider	Springer Nature Link
Author	WANG, Wei WANG, Lei YUN, Chao
Copyright Year	2017
Abstract	Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot’s base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot’s base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot’s reference configuration and the base coordinate frame’s pose are equivalently transformed to the zero-position errors of the robot’s joints. The simplified model of the robot’s positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot’s 39 kinematic parameters are finished in the second step. It’s proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot’s base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.
Starting Page	438
Ending Page	448
Page Count	11
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	30
Issue Number	2
e-ISSN	21928258
Language	English
Publisher	Chinese Mechanical Engineering Society
Publisher Date	2017-03-20
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	Kinematic parameter Calibration Error model Product of exponential Industrial robot Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

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