Separation and Calibration Method of Structural Parameters of 6R Tandem Robotic Arm Based on Binocular Vision

Rui Wang, Xiangyu Guo, Songmo Li and Lin Wang ()
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Rui Wang: School of Ocean Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China
Xiangyu Guo: School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
Songmo Li: School of Ocean Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China
Lin Wang: School of Ocean Engineering, Harbin Institute of Technology at Weihai, Weihai 264209, China

Mathematics, 2023, vol. 11, issue 11, 1-24

Abstract: In this paper, a kinematic separation calibration method of 6R series manipulator is proposed, and its absolute accuracy is improved by a binocular camera and standard sphere. First, a geometric error mapping model for the robotic arm was established, and the error parameters were divided into position parameters and attitude parameters for calibration purposes. Second, in the process of solving error parameters using numerical algorithms, it is easy to encounter matrix ill-conditioned problems. The spectral correction iteration method is introduced to improve the calculation accuracy. Third, three standard balls are installed at the end of the robotic arm as markers, and the center coordinates are measured using a binocular camera to obtain the actual end pose parameters. To verify the effectiveness of the proposed method, a simulation model verification was designed, and the results showed that the separation calibration method was the best. Finally, the IRB-1200 robot was successfully calibrated using the proposed method; the average robot position and angle error after calibration was significantly decreased. The position accuracy was improved by 66.9%, and the attitude accuracy was improved by 86.2%.

Keywords: error calibration; binocular vision; robotic arm; geometric error; ill-conditioned optimization (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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