Research on the Calibration Algorithms for Robot Based on a Three-axis Moving Platform
In order to solve the problem of low absolute positioning accuracy of robots,a robot calibra-tion device and corresponding calibration algorithm based on a three-axis displacement platform are pro-posed.By using cone constraints and a three-axis moving platform to measure the position error of the ro-bot's end effector,a tool calibration and base calibration algorithm are proposed.A kinematic parameter er-ror calibration model of the robot is established based on MDH parameters.Hedong TA6R3 six axis col-laborative robot is used as the research object for experiments.The experimental results show that after calibration and compensation,the maximum absolute positioning error of the robot decreased from 1.423 mm to 0.824 mm,proving the effectiveness of the above calibration device and algorithm.
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维普
