Abstract
In this paper, an analytical method of robot error model based on multi-vision measurement system and a scheme about step-by-step calibration of robot angle and position error in the measuring space are introduced. This paper analyzes the calibration method of vision measuring system, and the transformation error model between robot coordinate system and vision coordinate system is discussed. The kinematic parameter error model of robot for each axis and the error model of the target at the end of robot caused by mechanical installation are established. According to these error models, the coordinate system transformation error, kinematic parameter error, target mechanical installation error contributing to the angle error and position error of robot are calibrated in step, and in consequence. The calibration accuracy of position and angle error for robot is improved obviously. Experiments verify that the calibration method in multi-vision measuring space that is proposed in the paper has an excellent effect on improving the robot motion control precision.
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Li, R., Wang, B., Zhao, Y. (2019). A Study on Step-by-Step Calibration of Robot Based on Multi-vision Measurement. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_15
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DOI: https://doi.org/10.1007/978-3-030-27541-9_15
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