Test of Robot Distance Error and Compensation of Kinematic Full Parameters

In order to improve the positioning accuracy of robots in the workspace, the maximum cube of robots is solved according to ISO 9283:1998 standard. In addition, in order to efficiently test and identify the kinematic parameters of robots, a mapping from robot's distance error onto kinematic parameter errors is presented based on Hayati's modified D-H model. Then, by analyzing the condition number of distance error matrix, it is concluded that parameter d(i) can be deleted when parameter beta(i) is added in the joint of the modified model. Furthermore, by analyzing the relationship among the parameters of the distance error model, it is found that the deletion of some unidentified kinematic parameters may not result in the accuracy decrease of kinematic error model. Finally, some compensation experiments of the proposed model without unidentified kinematic parameters are carried out by using a laser tracker system. The results show that the proposed method effectively reduces the distance error and greatly improves the positioning accuracy of robots.