A Robot Calibration Method Based on Virtual Closed Kinematic Chain

Abstract:

This paper offers a robot calibration approach based on the virtual closed kinematic chain so that the absolute location accuracy of a robot can be improved. The calibration approach suggests that laser beam can be mounted on the robot’s end so as to form a virtual closed kinematic chain in the interest of enlarging the pose errors to proper extent, in this way straight line equations in space can be acquired when the robot positions are changed continuously, in the end the robots’ kinematic parameters can be figured out by genetic algorithm while measurement can be totally avoided in the calibration. Calibrating practices, simulating analysis and experiments on robots show that the approach can improve the absolute calibrating accuracy effectively.

• Periodical: Advanced Materials Research (Volumes 139-141)
• Pages: 2162-2167
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.139-141.2162
• Online since: October 2010
• Authors: Tian Qin Wang, Chang Liu, Zhen Pu Zhang, Da Cheng Wang
• Keywords: Calibration, Closed Kinematic Chain, Genetic Algorithm (GA), Robot

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