Hybrid Calibration of a Five-axis Robot based on Modeless and Model-based Methods

摘要

Through Analysis of both model-based robotic calibration and modeless robotic calibration, considering the structure of a five-axis grinding robot, a hybrid robotic calibration method is proposed which combines the advantages of the two common robotic calibration methods. For the translational joint error, a modeless calibration method is adopted, and for the rotational joint error, the hybrid calibration method is adopted according to their respective characteristics. Calibration experiments on a five-axis robot demonstrate its effectivity and feasibility, which can provide certain help for robot calibration of similar structure.