Method and system for providing improved accuracy in the articulated robot by the robot kinematic model parameter determination

摘要

Method and system for providing improved accuracy in the articulated robot by the robot kinematic model parameter determination is disclosed. The use of the deviation of the posture calculated as a function of the deviation in the robot model parameters, the reference point of the reference object, the chain rule for differentiation in a Jacobian derivation, the present invention calibrates the articulated robot to. The present invention determines the length scale, as a result, in order to avoid the need to know the link length of one of the robots, and the reference object two such, the known distance between them may be used. In addition, in order to find the optimal solution for accuracy the best model parameters of the results, the present invention utilizes an iterative method. Furthermore, it provides include parameters defining the tool attachment mechanism frame, the determination of the final joint of the robot parameters, that it, without calibration of the subsequent, the present invention allows the exchange of tools.