Error analysis and simulation of manipulator based onkinematics parameter calibration method
                                                                WANG Xianlun, AN Lixiong, ZHANG Haizhou
             （College of mechanical and electrical Engineering, Qingdao Universityof Science and Technology, Qingdao 266000, China）

Abstract: Aiming at the problem of the complexity of work tasks or the changing environment, and the industrial production requirements of higher precision requirements for manipulator,error analysis and Matlab simulation were carried out based on the calibration method of manipulator kinematics parameters. The content of the positioning accuracy and the source of the positioning error were introduced in general, applying the matrix method, the error model of kinemutics purameter calibration were modeled and analyzed, the general form of kinematics parameter error model was derived , and a small increment was added to compensate the error. The error model was proved to be correct by Matlab simulation analysis of the manipulator kinematics parameter error model.The results indicate that the error analysis based on the kinematics parameter calibration method of the manipulator can improve the accuracy of the manipulator, enable the manipulator to complete the expected posture requirements accurately, and have a good guiding role for further improving the accuracy of the manipulator.

Key words: mechanical kinematics; parameter error; parameter calibration; Matlab simulation