Kinematics Parameter Calibration of Serial Industrial Robots Based on Partial Pose Measurement

Tiewu Xiang (), Xinyi Jiang, Guifang Qiao, Chunhui Gao and Hongfu Zuo
Additional contact information
Tiewu Xiang: College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Xinyi Jiang: School of Automation, Nanjing Institute of Technology, Nanjing 210096, China
Guifang Qiao: School of Automation, Nanjing Institute of Technology, Nanjing 210096, China
Chunhui Gao: School of Automation, Nanjing Institute of Technology, Nanjing 210096, China
Hongfu Zuo: College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Mathematics, 2023, vol. 11, issue 23, 1-18

Abstract: The kinematics parameter error is the main error factor that affects the absolute accuracy of industrial robots. The absolute accuracy of industrial robots can be effectively improved through kinematics calibration. The error model-based method is one of the main methods for calibrating the kinematics parameter error. This paper presents a kinematics parameter calibration method for serial industrial robots based on partial pose measurement. Firstly, the kinematics and the pose error models have been established based on the modified Denavit–Hartenberg (MDH) model. By introducing the concept of error sensitivity, the average significance index is proposed to quantitatively analyze the effects of the kinematics parameter error on the pose error of a robot. The results show that there is no need to measure the full pose error of the robot. Secondly, a partial pose measurement device and method have been presented. The proposed device can measure the position error and the attitude error on the x -axis or y -axis. Finally, the full pose error model, the NP-type partial pose error model, and the OP-type partial pose error model have been applied for calibrating the kinematics parameter errors. The experimental results show that the effectiveness of the OP-type partial pose error model is consistent with the full pose error model.

Keywords: serial robot; error sensitivity; MDH model; positional error; pose measurement (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/11/23/4802/pdf (application/pdf)
https://www.mdpi.com/2227-7390/11/23/4802/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:11:y:2023:i:23:p:4802-:d:1289461

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().