RESEARCH ON HIGH PRECISION AND ZERO-COST FOR ROBOT ZERO-POSITION PARAMETER IDENTIFICATION METHOD, 239-249.
Bin Zhao, Chengdong Wu, and Fengshan Zou
Keywords
Nonlinear least-squares iterative, industrial robot, parameter identification, zero-positioncalibration, intelligent computing
Abstract
This paper introduces a robot zero position parameter identification
and calibration method based on high precision and zero cost, in
order to solve the shortcomings of the traditional axis pin calibration
and laser tracker calibration algorithms. The nonlinear least-squares
iterative method proposed in this paper is used to identify the
zero position parameters of the robot, and can effectively analyse
and correct the kinematic errors of the robot. This method needs
to collect 20 – 25 different pose data points of the robot in a
fixed position, to determine the unknown deviation parameters in
the zero-position model of the robot. At the same time, the four-
point tool coordinate system calibration method is used to replace
the existing five-point tool coordinate system calibration method.
The experimental results show that the accuracy of the calibration
method using zero position parameter identification is 69.847%
higher than that of the most used shaft pin calibration method.
Compared with the laser tracker calibration method with the highest
accuracy, its time efficiency is improved by 80%. This method
considers the calibration accuracy and efficiency, and significantly
improves the adaptability of the zero-position calibration method to
the calibration environment.
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