关键词: 串联机器人, 运动学参数, 递推标定, 局部误差模型

Abstract:

Derived from end-effecter coordinate system to base coordinate system, a recursive calibration method for robot kinematics parameters is proposed aiming to obtain accuracy robot kinematics parameters. Based on robot kinematics model, an error model of local coordinate systems between adjacent joints is constructed. Taking an 8-degree of freedom robot as research object, the link local coordinate systems are constructed with laser tracker. Then experiments are taken out, and the effectiveness and practicality of the recursive calibration method are verified.

Key words: serial robot, kinematics parameters, recursive calibration, local error model