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论文类型：会议论文

发表时间：2015-06-09

收录刊物：EI、CPCI-S、Scopus

页面范围：913-917

关键字：kinematics calibration; positioning error; geometric parameter; the least square method

摘要：The forward kinematics model is deduced by combining the D-H method and MD-H method. The Jacobian matrix is deduced by total differential calculation. Thus, a kinematics calibration error model is established in this paper. The positioning accuracy of a SIASUN SR165C industrial robot is improved by using a 24-parameter calibration model. The error model takes into account all geometric parameters. The least square method is used to find the 24 error parameters. The simulation of the robot's positioning accuracy is performed with 100 points throughout the complete robot's joint space. After calibrating, the maximum positioning error on the end-effector is reduced from 0.541499mm to 0.070459mm, the average positioning error on the end-effector is reduced from 0.225000mm to 0.041075mm, and the fluctuation of the error decreases.