研究目的
Investigating the calibration method for robot kinematic parameters by constraining a command point with a laser displacement sensor to improve the positioning accuracy of industrial robots.
研究成果
The proposed calibration method significantly improves the positioning accuracy of industrial robots, with the mean positioning error reduced from 10.259mm to 0.845 mm. The verification experiment confirms the method's effectiveness, showing a decrease in the mean of relative deviations from 1.674 mm to 0.538 mm.
研究不足
The measurement range of the proposed method is smaller than that of the laser tracker, and some errors identified by the two methods vary greatly. The method's efficiency and accuracy could be further improved.
1：Experimental Design and Method Selection:
The study employs a novel calibration method for robot kinematic parameters using a laser displacement sensor and establishes a kinematic error model. An identification algorithm combining the least square method and Particle Swarm Optimization is developed.
2：Sample Selection and Data Sources:
The industrial serial robot (HSR-JR605) with six degrees of freedom is used. Data is collected using a laser displacement sensor and a precision sphere.
3：List of Experimental Equipment and Materials:
Includes a laser displacement sensor (LK-H020 by Keyence), a precision sphere, and a micro-adjustment stage.
4：Experimental Procedures and Operational Workflow:
The robot's kinematic errors are measured by three calibration procedures with the laser displacement sensor. The sphere center's three-dimensional deviations are calculated, and the kinematic parameter errors are identified.
5：Data Analysis Methods:
The data is analyzed using the least square method and Particle Swarm Optimization algorithm to calibrate the kinematic parameters.
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