Modeling and Stability Analysis of Robot Calibration System Based on Dual PSD

摘要

Industrial robot repeat positioning accuracy is high, but the absolute positioning accuracy is low, which greatly affects the application of offline programming. Compared with the traditional method, calibration method based on dual-PSD provides more efficient way for improving absolute positioning accuracy of robot. However, the required alignment of laser beam to shoot at the two PSD centers was performed separately, which required to pre-known some parameters for the alignment task. This paper proposes a simultaneous laser beam alignment method without knowing these parameters to perform the laser beam alignment task. In this paper, the motion of the end-effector is divided into translational motion and rotational motion. By designing the translational motion and rotational motion controller of the robot end-effector respectively, the unknown parameters in the model are estimated, and the laser spot is alligned with the double PSD at the same time. Stability analysis.