Robot Calibration method with Joint Stiffness Parameters for the Enhanced Positioning Accuracy

摘要

The present invention relates to a robot in the calibration method considering the joint shaft deflection , a preferred embodiment of the present invention in the link with the robot calibration method consists of the joint axis , according to the robot end load (load) and the shaft deflection modeling joint (joint deflection) due to its own weight to the robot joint stiffness parameters, including the joint stiffness robot calibration parameters to present a method , by calculating and compensating the joint axis compliance (compliance) matrix , taking into account the stiffness of the robot calibration method parameters to improve the position accuracy of the robot is provided .