| Citation: | FAN Mingzheng, HAN Xianguo. Precision improvement method for serial robot localization based on a new calibration and compensation strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(1): 176-183. doi: 10.13700/j.bh.1001-5965.2016.0045(in Chinese)
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Before the localization operation, the serial robot position relationship between base coordinate system and measurement coordinate system needs to be demarcated. For the hidden robot base and flange coordinate systems of serial mechanism, a kind of equivalent transformation method is presented in this paper, which is combined with the application of the target-points coordinate measurement data at the end of the robot using laser tracker to establish the calibration matrix equation. Calibration equation can be transformed into the ternary quadratic matrix equation form by Rodrigo matrix. Then the matrix equation between the robot base and measurement coordinate systems can be solved by using least square method and Newton iteration method. This method is verified by calibration test and 20 groups of calibration results are obtained. The calibration results combined with a position compensation algorithm can greatly improve the localization precision of robot.
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