A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board
The robot arm DH parameter calibration method based on calibration board is proposed,the 7points of calibration board can be sampled by using the end effector in sequence,among which the first 3 points are used to construct the relationship between world and robot coordination system while the other...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.035 |
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| _version_ | 1841547637578268672 |
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| author | Yang Yuan Cao Tong Liu Da |
| author_facet | Yang Yuan Cao Tong Liu Da |
| author_sort | Yang Yuan |
| collection | DOAJ |
| description | The robot arm DH parameter calibration method based on calibration board is proposed,the 7points of calibration board can be sampled by using the end effector in sequence,among which the first 3 points are used to construct the relationship between world and robot coordination system while the other 4 points are applied to establish objective function and error equation. The DH parameter after calibration can be obtained by optimization solution of error equation. At last,the effectiveness of this method is verified through repeated positioning accuracy,the repeated positioning accuracy can be improved from 4. 68 mm to 0. 87 mm. This method has the advantages of simple equipment and easy operation. |
| format | Article |
| id | doaj-art-288db353369746c18cb7b56bde4ced73 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-288db353369746c18cb7b56bde4ced732025-01-10T14:22:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014117818129931035A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration BoardYang YuanCao TongLiu DaThe robot arm DH parameter calibration method based on calibration board is proposed,the 7points of calibration board can be sampled by using the end effector in sequence,among which the first 3 points are used to construct the relationship between world and robot coordination system while the other 4 points are applied to establish objective function and error equation. The DH parameter after calibration can be obtained by optimization solution of error equation. At last,the effectiveness of this method is verified through repeated positioning accuracy,the repeated positioning accuracy can be improved from 4. 68 mm to 0. 87 mm. This method has the advantages of simple equipment and easy operation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.035Robot armDH parameter calibrationCalibration boardRepeated positioning accuracy |
| spellingShingle | Yang Yuan Cao Tong Liu Da A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board Jixie chuandong Robot arm DH parameter calibration Calibration board Repeated positioning accuracy |
| title | A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board |
| title_full | A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board |
| title_fullStr | A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board |
| title_full_unstemmed | A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board |
| title_short | A Kind of Calibration Method for Robot Arm DH Parameter by Using Calibration Board |
| title_sort | kind of calibration method for robot arm dh parameter by using calibration board |
| topic | Robot arm DH parameter calibration Calibration board Repeated positioning accuracy |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.035 |
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