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| Application Research of Robot Calibration Based on Draw-Wire Displacement Sensors |
| LUO Zhenjun1, SUN Sijia2, MEI Jiangping2, CHEN Luogen1, XU Jian1 |
(1. WAHAHA Mechanical and Electrical Engineering Institute, Hangzhou 310016, China;
2. College of Mechanical Engineering, Tianjin University, Tianjin 300110, China） |
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Abstract The single-line 1D and 3- line 3D measurement systems are introduced briefly, and a single-line 3D measurement
system is proposed by studying the current situation and application of the draw-wire displacement sensor in the
field of robot calibration. The parameter identification algorithms corresponding to each of the measurement systems are
proposed as well. In order to select appropriate calibration points, an example of a robot palletizer is given to analyze the
effect of the error of robot work position on the value of cable measurement. A simulation is carried out to calibrate manufacturing
error on nominal D-H parameters and measurement parameters, whose results show that the accuracy after the
calibration is improved by 90%. Finally, the validity of the calibration methods is further verified by the kinematic calibration
experiment, and some problems still needed to be solved are pointed out.
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2017, 
