Dynamic Parameter Identification and Collision Detection of Robot

摘要

A method based on MD-H model is proposed to establish the geometric parameter error model of SCARA robot and carry out error compensation. In this paper, by analyzing the causes of robot positioning accuracy error, the geometric parameter error model of SCARA robot is established through the modified MD-H model. The Jacobian matrix of the robot is calculated, and the redundancy analysis of the columns of the J matrix is carried out, and the redundant parameter columns are eliminated. Then the same world coordinate system of laser tracker and SCARA robot is established by axis method. Finally, the absolute coordinate data of SCARA robot before and after correction are measured by laser tracker. From the measured data, it can be obtained that the maximum absolute positioning accuracy before the robot correction is 7.4 mm, and the maximum absolute positioning accuracy after the robot correction is 0.933 mm, which is 6.9 times higher than that before.