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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: Aiming at the problem that the absolute positioning accuracy of robots was relatively low and could not meet the precision requirements of high-end manufacturing field, a series robot error modeling method based on conformal geometric algebra (CGA) was proposed. Based on the framework of conformal geometry algebra, firstly the kinematics model of serial robot was established by calculating the CGA motion operator of adjacent nodes and its conjugate form, and the projection of the terminal coordinate system and the representation of the origin coordinates were obtained. Then the error model was established based on differential operation, and the geometric parameter errors were identified by Levenberg-Marquardt algorithm. Finally, the terminal errors were calculated according to the identified error parameters and were compensated to the terminal pose of the serial robot. The error modeling and kinematics calibration of Jaka ZU3 6-DOF serial robot were carried out by this method. The theoretical analysis and research results show that the average position error of JAKA Zu3robot decreases from 2.933 1mm to 0.615 2mm and the average attitude error decreases from 0.029 7rad to 0.005 7rad after the kinematic calibration experiment. The calibration effect is obvious, which proves the correctness of the method and can be used as the effective approach for error modeling and kinematic calibration.
Key words: serial robot; kinematic calibration; conformal geometry algebra (CGA); error modeling
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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- CSA: T Indexed
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- UPD:Indexed
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2010 Zhejiang Information Institute of Mechinery Industry
Technical Support：Hangzhou Bory science and technology
