An Approach of Robotic Kinematics Parameters Calibration

Abstract

Aiming at tedious of parameters identification in the process of robot calibration, this paper proposed a method to directly establish parameter error equations based on relative distance error by using the kinematics model in which the parameters error were considered, employing a laser interferometer to measure a 6R robot end-effector displacement distance along its Cartesian coordinates system axis direction, and respectively recorded the joint angle position data to the measured points, then taking all recorded data as basis for the robot kinematics parameter errors identifying equations and employing a hybrid genetic algorithm to solve the equations. The result shown that incomplete distance info can be used to identify kinematics parameters error in robot calibration process.