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Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker

Ling Wang (Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)
Xiaoliang Wu (Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)
Zeng Kang (Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)
Yanfeng Gao (College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)
Xiai Chen (College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)
Binrui Wang (College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 12 September 2023

Issue publication date: 16 November 2023

55

Abstract

Purpose

In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to different contributions of model parameter errors to the tool center point positioning error of industrial robots, obtaining good results for all model parameters is very difficult. Therefore, the purpose of this paper is to propose a sequential calibration method specifically for transmission ratio parameters, which includes reduction ratios and coupling ratios of industrial robot joints.

Design/methodology/approach

The ABB IRB 1410 industrial robot is considered as an example in this study. The transmission ratios for each joint of the robot are identified using the spatial circle fitting method based on spatial vectors, which fit the center and radius of joint rotation with the least squares optimization algorithm. In addition, a method based on the Rodrigues’ formula is designed and presented for identifying the actual coupling ratio of the robot. Subsequently, an experiment is carried out to verify the proposed sequential calibration method of transmission ratios.

Findings

In this experiment, the actual positions of the linkages before and after joint rotations are measured by a laser tracker. Accurate results of the reduction ratios and the coupling ratios are calculated, and the results are verified experimentally. The results show that by calibrating the reduction ratios and coupling ratios of the ABB robot, the rotation angle errors of the robot joints can be reduced.

Originality/value

The authors propose a sequential calibration method for transmission ratio parameters, including reduction ratios and coupling ratios of industrial robot joints. An experiment is carried out to verify this proposed sequential calibration method. This study may be beneficial for calibrating the kinematic parameters of industrial robots and improving their positioning accuracy.

Keywords

Acknowledgements

This study is supported by Analysis and Test Research Project of Public Welfare Technology Appli-cation of Zhejiang Province (No. LGC21F030001).

Citation

Wang, L., Wu, X., Kang, Z., Gao, Y., Chen, X. and Wang, B. (2023), "Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker", Industrial Robot, Vol. 50 No. 6, pp. 993-999. https://doi.org/10.1108/IR-05-2023-0115

Publisher

:

Emerald Publishing Limited

Copyright © 2023, Emerald Publishing Limited

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