TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

被引：1
|
作者：
Zhou X. [1 ]
Huang S. [2 ]
Zhu Z. [2 ]
机构：
[1] Foshan Institute of Intelligent Equipment Technology, Foshan
[2] National Numerical Control System Engineering Research Center, Huazhong University of Science and Technology, Wuhan
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 11期
关键词：
Analytic and geometric model; Screening; Six-joint industrial robot; TCP calibration; The number of calibration point; The pose of the calibration point;
D O I：
10.3901/JME.2019.11.186
中图分类号：
学科分类号：
摘要：
The calibration principle of tool center point (TCP) of six-joint industrial robot is studied through the analytic model and geometric model and the source of calibration error is analyzed comprehensively. Furthermore, the influence of calibration point number and calibration pose on TCP calibration precision is analyzed quantitatively. Based on the classical algorithm of four point calibration, a concept of error threshold and an improved algorithm is proposed, named the priority selection from five calibration point. In addition, the simulation and experimental verification is carried out. The experimental results show that the faulty point can be picked out effectively, the calibration accuracy can be further improved and the reliability can be ensured by using the improved algorithm. © 2019 Journal of Mechanical Engineering.
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页码：186 / 196
页数：10
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