Study on identification of welding robot based on POE

The kinematic parameters of the welding robot are one of the main factors that affect the absolute positioning accuracy of the robot. In order to improve the positioning accuracy, the rotation model of the ER16-1600 robot is established, and the distance error model based on product of exponential (POE) formula and the parameter identification method based on the iterative least squares are proposed. Then, the Kinect camera is used to analyze the ER16-1600 Robot, and finally the POE error model is used to identify the kinematic parameters of the welding robot. The experimental results show that the kinematic parameters after calibration have improved the absolute positioning accuracy of the robot by 81.3%, which increases the accuracy and robustness of parameter identification.