The Calibration of Industrial Robot Through Compensation of The Nonlinear Residual Errors

In this paper, the nonlinear positioning errors of a serial industrial robot with six degrees of freedom(6-DOF) are studied using measurements from a FARO laser tracker. An experiment is designed to rotate each robot joint respectively both in forward and reverse directions with different external payloads on the end-effector. The mirror ball fixed on robot links is measured during rotating each joint to obtain the joint coordinates. Then, the positioning errors of each joint are calculated in terms of different movement directions and different external payloads. In addition, the nonlinear residual errors are obtained by subtracting the parametric parts from the total errors. According to experimental results and analysis of robot structures, the gear backlash and joint stiffness are regarded as the main sources of the nonlinear residual errors. Finally, two different compensation strategies are proposed by identifying the nonlinear error parameters and optimizing robot motion path respectively.

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