TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

doi:10.3901/JME.2019.11.186

Journal of Mechanical Engineering ›› 2019, Vol. 55 ›› Issue (11): 186-196.doi: 10.3901/JME.2019.11.186

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TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

ZHOU Xing¹, HUANG Shifeng², ZHU Zhihong²

1. Foshan Institute of Intelligent Equipment Technology, Foshan 528225;
2. National Numerical Control System Engineering Research Center, Huazhong University of Science and Technology, Wuhan 430074

Received:2018-06-19 Revised:2018-12-27 Online:2019-06-05 Published:2019-06-05

Abstract

Abstract: The calibration principle of tool center point (TCP) of six-joint industrial robot is studied through the analytic model and geometric model and the source of calibration error is analyzed comprehensively. Furthermore, the influence of calibration point number and calibration pose on TCP calibration precision is analyzed quantitatively. Based on the classical algorithm of four point calibration, a concept of error threshold and an improved algorithm is proposed, named the priority selection from five calibration point. In addition, the simulation and experimental verification is carried out. The experimental results show that the faulty point can be picked out effectively, the calibration accuracy can be further improved and the reliability can be ensured by using the improved algorithm.

Key words: analytic and geometric model, screening, six-joint industrial robot, TCP calibration, the number of calibration point, the pose of the calibration point

CLC Number:

TP242

ZHOU Xing, HUANG Shifeng, ZHU Zhihong. TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot[J]. Journal of Mechanical Engineering, 2019, 55(11): 186-196.

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TCP Calibration Model Research and Algorithm Improvement of Six Joint Industrial Robot

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