Abstract
AbstractKinematic parameter error is the main factor that affects the accuracy of industrial robots. The accuracy of robots can be effectively improved through calibration technology. The error model based method is one of main calibration methods for calibrating robots. This paper presents the error sensitivity based redundancy analysis for kinematic calibration of industrial robot. The pose error model is firstly established based on the M-DH model. By introducing the concept of error sensitivity, the effects of kinematic parameter error on the end pose error of industrial robot is analyzed. The redundant parameters of pose error model are analyzed based on the error sensitivity. Secondly, the effectiveness of the non-redundant pose error model is verified through experiments. The average comprehensive position error of Staubli TX60 robot is reduced by 88.7%. The average comprehensive attitude error of Staubli TX60 robot is reduced by 75.4%.KeywordsSerial robotError sensitivityM-DH modelPose errorPose measurement
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