Abstract：Existing robot kinematics calibration methods generally overlook the compensation of joint angle errors. Based on the analysis of experimental data on joint angle errors of six-axis serial robots, this paper proposes a compensation method for robot joint angle errors based on Chebyshev polynomial fitting, followed by the calibration of robot kinematics after compensating for joint angle errors. Subsequently, an experiment is conducted to validate joint angle error compensation and body kinematics calibration on the ABB IRB 1410 robot using a laser tracker. The experimental results show that the proposed method can reduce the mean absolute positioning error of the robot from the 2.11mm to 0.66mm. This research is expected to provide a theoretical foundation and technical conditions for further improving robot positioning accuracy.
2024, Vol. 45 
