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

Shida Liu; Run Zhang; Yizhou Jiang; Liandong Yu

doi:10.1117/12.2547006

13 November 2019 The calibration method for robotic kinematic parameters based on articulated coordinate measuring machine

Shida Liu, Run Zhang, Yizhou Jiang, Liandong Yu

Author Affiliations +

Proceedings Volume 11343, Ninth International Symposium on Precision Mechanical Measurements; 113430C (2019) https://doi.org/10.1117/12.2547006
Event: International Symposium on Precision Mechanical Measurements 2019, 2019, Chongqing, China

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.

Citation Download Citation

Shida Liu, Run Zhang, Yizhou Jiang, and Liandong Yu "The calibration method for robotic kinematic parameters based on articulated coordinate measuring machine", Proc. SPIE 11343, Ninth International Symposium on Precision Mechanical Measurements, 113430C (13 November 2019); https://doi.org/10.1117/12.2547006

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available