ROBOT CALIBRATION METHOD WITH JOINT STIFFNESS PARAMETERS FOR THE ENHANCED POSITIONING ACCURACY

摘要

A calibration method of a robot having the joint rigidity parameter for the location accuracy improvement is provided to improve the precision of the robot by calculating the compliance parameter and the link parameter. A calibration method of a robot having the joint rigidity parameter for the location accuracy improvement comprises: a step of modeling to the joint rigidity parameter relative to the robot weight with the joint stiffness parameter in consideration of the rigidity and load of a robot(10) end part(11) articulated axle; and a step of calculating the compliance matrices of the articulated axle and compensating. Through the calibration method of the robot considering the rigidity parameter, the positional precision of the robot can be improved. The compliance parameter of the articulated axle and the link parameter due to the droops are the difference of the place value in which the measured place value and the link parameter are calculated.