A Kinematic Model and Identification of Geometric Parameters of Robots

摘要

The pose accuracy of the end effector of robot depends on the accuracy of the geometric parameters of each link. This paper discusses methods of creating kinematic models and presents a complete formulation to identify the actual robot geometric parameters. The formulation is hased on a modified Denavit-Hartenbery (MDH) model and differential translation relationships. This calibration methed requires measurement of the joint encoder values and the pose of the end-effector of robot in world coordinates. This calibration method can be used to improve tile overall performance of an industry robot and the accuracy of a 6R-DOF mechanical following measuring system.