Calibration of UR5 manipulator based on kinematic models

摘要

The end-effector's position errors of robot can be corrected by identifying kinematic parameters. In this paper, MD-H parameter model and end-effector's position error model are established for Universal Robot 5. And we use the laser tracker to measure the real position of the robot. We identified the kinematic parameters based on the least square method. By analyzing and verifying the results of the parameters' identification, the maximum error of robot end-effector position is decreased by 57.51%, the average error is decreased by 53.64% and the root mean square error is decreased by 55.89%, which shows the applicability and reliability of the calibration method in the entire robot movement space.