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| Accuracy Improvement of Serial Robot Based on Geometric Parameters Calibration |
| ZHAO Yi-bing1,WEN Xiu-lan2, QIAO Gui-fang2, L Zhong-yan2, SONG Ai-guo3, KANG Chuan-shuai2 |
1. Innovaition College, Industry Center, Nanjing Institute of Technology, Nanjing, Jiangsu 211167,China
2. Automation Department, Nanjing Institute of Technology, Nanjing, Jiangsu 211167, China
3. School of Instrument Science and Engineering,Southeast University, Nanjing, Jiangsu 210096, China |
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Abstract In order to enhance the absolute positioning accuracy of the robot, a calibration method based on zero reference model (ZRM) is proposed. ZRM including direction and connection vectors is founded. According to the features of ZRM, improved genetic algorithm (IGA) is used to search the solution of the direction and position components of zero position vector. The objective function computation methods and the detailed steps of calibrating geometric parameters of ZRM based on IGA are given. Finally, by carrying out the simulation and real measurement research for ER10L-C10 industrial robot, the results show that the geometric parameters of ZRM can be quickly calibrated by IGA. When the calibration point is set at about 50, the accuracy improvement of the test points after calibration has good generalization ability and in the whole workspace the positioning accuracy of the ER10L-C10 end-effector is improved about 90%.This method is suitable to be applied in serial robot calibration with high positioning accuracy requirements.
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Received: 28 July 2020
Published: 08 December 2020
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2020, Vol. 41 
