Kinematics calibration research based on the positioning error of the 6-DOF industrial robot

摘要

The forward kinematics model is deduced by combining the D-H method and MD-H method. The Jacobian matrix is deduced by total differential calculation. Thus, a kinematics calibration error model is established in this paper. The positioning accuracy of a SIASUN SR165C industrial robot is improved by using a 24-parameter calibration model. The error model takes into account all geometric parameters. The least square method is used to find the 24 error parameters. The simulation of the robot's positioning accuracy is performed with 100 points throughout the complete robot's joint space. After calibrating, the maximum positioning error on the end-effector is reduced from 0.541499 mm to 0.070459 mm, the average positioning error on the end-effector is reduced from 0.225000mm to 0.041075 mm, and the fluctuation of the error decreases.