A novel kinematic model and its compensation approach for structural parameter of rotating joints series robot

Abstract

The pose accuracy is important performance index of industrial robot. In order to improve the pose accuracy, it is necessary to compensate the kinematic parameters of the robot. A novel approach for kinematic parameter compensation of robot based on the parameter solving of the ruled surface model is developed by establishing a model containing link error and kinematic pair error. The fitting axis of each joint is obtained by fitting the discrete points. Then, the fitting axes of the adjacent joints is used to identify the link errors and the link errors are compensated. This approach has been tested and verified on the LR7-710 robot. The test results show that the position error of the arc trajectory is reduced from 0.4580 to 0.0801 mm.