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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

Related citation:Deli Zhang,Yu Zhu,Lu Yang,Zhe Liu.Geometric Calibration Method of Robot Based on Measurement System Including Position and Orientation Parameters[J].Journal of Harbin Institute Of Technology(New Series),2023,30(6):1-11.DOI:10.11916/j.issn.1005-9113. 2023046.
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Geometric Calibration Method of Robot Based on Measurement System Including Position and Orientation Parameters
Author NameAffiliation
Deli Zhang College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China 
Yu Zhu Nanjing Research Institute of Simulation and Technology, Nanjing 210010,China 
Lu Yang Estun Automation Co., Ltd, Nanjing 210026,China 
Zhe Liu Engineering Technology Center, Shenyang Aircraft Company, Shenyang 110850, China 
Industrial robot which can acquire high accuracy has been widely used in automatic assembly. Usually, the geometric parameter of industrial robot should be inspected during manufacturing and application. High precision measurement equipment was utilized to acquire the position and orientation of robot’s end-effector, when calibrating the geometric parameter of robot. A kind of measurement system based on a draw-wire encoder was presented, since the current measurement equipment has some disadvantages, such as the cost and the requirements of working environment are high. According to this kind of measurement system, a sort of geometric calibration method of robot was presented including position and orientation parameters. The uncertain arc length of the cable length between robot end-effector and the measurement can be exactly acquired according to the position and orientation parameters. The pose-solving model of robot end-effector was associated with the kinematic model of robot, and robot’s geometric parameter can be computed by using the least-squares methods. Validate instance was conducted, the result showed that the optimal number of the calibration pose was 47 with little improvement in accuracy, even if increasing the number of calibration pose. Robot calibration experiment was performed and the results showed that the absolute accuracy of robot decreased from 4.32 mm to 0.87 mm after calibration, which improved the robot’s absolute accuracy effectively.
Key words:  Robot Calibration  Industrial robot  Geometric parameter identification  Robot accuracy  draw-wire encoder
DOI:10.11916/j.issn.1005-9113. 2023046
Clc Number:TP24
Descriptions in Chinese:



(1.南京航空航天大学 机电学院,南京 210016;

2.南京模拟技术研究所, 南京,210010;

3. 南京埃斯顿自动化股份公司,南京 210026;

4. 沈阳飞机工业 (集团) 有限公司工程技术中心,沈阳 110850)