Development of a 3D Online Self Calibration Device for Industrial Robots

HUANG Lei; DOU Yanhong; FAN Yu; ZHAO Zizhao; HE Zhichao; ZHANG Shuang

doi:10.12338/j.issn.2096-9015.2021.0114

Volume 66 Issue 2

Feb. 2022

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HUANG Lei, DOU Yanhong, FAN Yu, ZHAO Zizhao, HE Zhichao, ZHANG Shuang. Development of a 3D Online Self Calibration Device for Industrial Robots[J]. Metrology Science and Technology, 2022, 66(2): 3-8. doi: 10.12338/j.issn.2096-9015.2021.0114

Citation:

HUANG Lei, DOU Yanhong, FAN Yu, ZHAO Zizhao, HE Zhichao, ZHANG Shuang. Development of a 3D Online Self Calibration Device for Industrial Robots[J]. Metrology Science and Technology, 2022, 66(2): 3-8. doi: 10.12338/j.issn.2096-9015.2021.0114

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Development of a 3D Online Self Calibration Device for Industrial Robots

doi: 10.12338/j.issn.2096-9015.2021.0114

1.
Jilin Institute of Metrology, Changchun 130103, China
2.
Changchun Institute of Technology, Changchun 130000, China

Available Online: 2021-12-29
Publish Date: 2022-02-18

Abstract

Abstract

Aiming at the problem of balancing the cost and accuracy in calibration of industrial robots, a low-cost three-dimensional high-precision contact self-calibration system for industrial robots was developed. The three-dimensional calibrator is installed in the end position of the robot (TCP). Using three orthogonal high-precision position sensors, the D-H parameters of industrial robots can be calibrated online with low cost and high precision by the calibration algorithm of D-H parameters of industrial machines and precise iterative measurement of a special four ball calibration table. A comparison with a laser tracker showed that the maximum E_n value of each measurement point was 0.63 and the comparison result was satisfactory.
- metrology,
- industrial robot,
- online self calibration,
- high-precision,
- three dimensional calibrator

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References(15)

References

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