Robot zero parameter identification and calibration application
                                                                    CHEN Hong1, SUN Xuejuan2, GONG Xun2
(1.Computer Science Department, Tianjin Binhai Vocational Institute of Automotive Engineering,Tianjin 300352, China; 2.School of Mechanical Engineering, Tianjin SinoGerman University of Applied Sciences, Tianjin 300350, China)

Abstract: Aiming at the problem of robot positioning error, the algorithm principle of robot zero position identification method and geometric method was analyzed, and a new zero calibration method was researched systematically based on the existing zerocalibration methods. The inclination measurement was based on the biaxial inclination sensor, and the entire zero calibration process was be completed by two installations of the instrument and simple operation of the robot. A new calibration method for the reference zero and access method of the 2nd axis and zero identification method of the remaining axes was presented, the theoretical basis of the two key problems of identification process were simulated. The new calibration method was verified by the experiments.The experimental results indicate that the proposed zero calibration method can greatly reduce the positioning error of the robot,the cost of zero calibration based on this method is relatively low, and it is worthy of promotion in engineering applications.

Key words: industrial robot; calibration equipment; zero calibration; zero model