Positioning accuracy improvement method of industrial robot based on laser tracking measurement

摘要

Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which takes both kinematics and dynamics parameter errors into account. Firstly, the method uses improved Denavit-Hartenberg (DH) model to establish kinematics model and identifies the geometric errors. Then, the deformation of the joint is analysed, and the angle deviation of each joint due to the end load is compensated. Finally, the accuracy improvement experiment is carried out on 6R robot. The experimental results show that the method is very effective.