Kinematics Calibration of Large Industrial Robot and Precision Compensation Method
Introducing large industrial robots into aerospace manufacturing can achieve high precision and reliability of aero-space equipment.The kinematics calibration of large industrial robot and precision compensation method was suggested based on the modified D-H(MD-H)model to improve the absolute positioning accuracy,which can better adapt to the product assembly re-quirements of the aerospace field.There was a more complete error parameter identification model by adding the coordinate sys-tem transformation error and target ball installation error.Then the method using a laser tracker got the position of robot terminal by the target ball attached to the flange plate.The robot terminal error model was calculated by improved iterative least square method.Finally the compensation can be made to the robot terminal to complete the calibration.In order to further verify the va-lidity of the identification algorithm,KUKA KR1000 Titan industrial robot was used for simulation and experiment.The results illustrate that the average error decreased from 1.122mm to 0.340mm and the average positioning accuracy has increased by about 70%.The absolute positioning accuracy rate significantly improved with the process of calibration compensation.
NETL
NSTL
万方数据
维普
