Abstract
A Novel Algorithm for Robust Calibration of Kinematic Manipulators and its Experimental Validation
Highlights
As critical components of modern manufacturing, industrial manipulators have been comprehensively applied in many fine-processing fields, such as precision assembling and operations [1]–[3], robotic machining [4], and visionguided grasping [5], [6], which requires ultra-high precision of manipulators
The pose accuracy can be improved by kinematic calibration of robotic structural parameters
Minimizing the maximum value of the positioning errors of three spherical mounted retro-reflectors (SMRs) can improve both positioning and orientation accuracy of the end-effector, the robustness of algorithm is improved by introducing the minimax search method
Summary
As critical components of modern manufacturing, industrial manipulators have been comprehensively applied in many fine-processing fields, such as precision assembling and operations [1]–[3], robotic machining [4], and visionguided grasping [5], [6], which requires ultra-high precision of manipulators. The pose accuracy can be improved by kinematic calibration of robotic structural parameters. Compared with the aforementioned self-calibration method, calibration with external sensors achieves higher accuracy and global volumetric error convergence since it directly optimizes the pose error of the points measured in the working space. In [10], the authors identified joint errors and compensated the parameters to improve positioning accuracy through a laser tracker. Reference [15] compared the effects of kinematic calibration on the improvement of positioning accuracy based on different robot models. With a large orientation error, the positioning accuracy of manipulators will be significantly reduced when the end-effector is away from the calibrated point. In [20], a differential kinematics model of both position and orientation for calibration was proposed and established.
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