Kinematics calibration of series robots based on porous calibration method
                                                                          WANG Xianlun, HU Xiaowei
（College of mechanical and electrical Engineering, Qingdao University of Science and Technology, Qingdao 266000,China）

Abstract: Aiming at the shortcomings of traditional calibration methods for serial robots, there were still large errors in the kinematic accuracy of the robot after calibration, kinematics calibration of serial robot was carried out. Based on single hole calibration method, optimization and improvement were made. A kinematics calibration technology of serial robot based on multihole calibration method was proposed.The positioning error of the robot was calculated by MDH error model, and then the error value was compensated to improve the motion accuracy of the robot. A calibration platform was built, and the calibration effect of the porous calibration method was studied by means of selfmade porous calibration plate and probe. The experimental data were recorded in detail and processed and analyzed comprehensively. The results indicate that the multihole calibration method has a significant effect on the calibration of this type of serial robots, effectively improves the positioning accuracy of the robot, and reduces the motion error of the robot several times before and after calibration. The calibration of kinematic parameters of this type of robot has great practical significance and laid a good foundation for further research and application of the robot.

Key words: motion accuracy; kinematic calibration; porous calibration; MDH error model