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Proceedings Paper

The calibration method for robotic kinematic parameters based on articulated coordinate measuring machine
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Paper Abstract

In order to improve the absolute positioning accuracy of the robot, a kinematic calibration method based on the Articulated Coordinate Measuring Machine(ACMM) is proposed in this paper. To identify the kinematic parameters, kinematic model based on D-H(Denavit-Hartenberg) and kinematic calibration model based on distance errors are established. Then, the ACMM is used as the measurement instrument in the calibration process. Finally, the kinematic parameters are identified by the Extended Kalman Filter(EKF) algorithm. Experiments have been carried out in this paper, the experimental results show that this method is suitable for the identification of robot kinematic parameters and can effectively improve the absolute positioning accuracy of the robot.

Paper Details

Date Published: 13 November 2019
PDF: 5 pages
Proc. SPIE 11343, Ninth International Symposium on Precision Mechanical Measurements, 113430C (13 November 2019); doi: 10.1117/12.2547006
Show Author Affiliations
Shida Liu, Hefei Univ. of Technology (China)
Run Zhang, Hefei Univ. of Technology (China)
Yizhou Jiang, Hefei Univ. of Technology (China)
Liandong Yu, Hefei Univ. of Technology (China)

Published in SPIE Proceedings Vol. 11343:
Ninth International Symposium on Precision Mechanical Measurements
Liandong Yu, Editor(s)

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