Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration
The central axis fitting accuracy of the axis rotation method determines the absolute positioning accuracy of the calibrated robot. In this study, two kinds of axis fitting methods are used, and their fitting accuracies are analyzed. The first kind is the traditional fitting method, which fits the m...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2023-12-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.007 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547000558911488 |
|---|---|
| author | Huang Yuansong Xi Wenming Sun Jiandong |
| author_facet | Huang Yuansong Xi Wenming Sun Jiandong |
| author_sort | Huang Yuansong |
| collection | DOAJ |
| description | The central axis fitting accuracy of the axis rotation method determines the absolute positioning accuracy of the calibrated robot. In this study, two kinds of axis fitting methods are used, and their fitting accuracies are analyzed. The first kind is the traditional fitting method, which fits the measuring point as a circle and uses the normal vector through the center of the circle as the axis of the robot. The second kind is the improved fitting method, which uses the measuring point to fit the sphere and plane, and obtains the intersecting circle of the fitted sphere and plane. In order to avoid the large geometric parameter calibration error caused by the small error of the over-center normal vector in the traditional method, the line of the center of the double intersecting circle is used as the axis of the robot. Compared with the fitting results of the laser tracker software, the fitted center of the intersecting circle has higher accuracy. The axis vectors of the first and the second axes are used, the axis vector of the first axis and the projection of the axis vector of the second axis on the vertical plane of the first axis are respectively used as the direction vector of the robot base coordinate system, and the conversion matrix of the measurement point from the measurement system to the robot system is constructed. By comparing the measurement point difference after conversion of the two conversion matrices, the conversion matrix using the second axis directly as the base coordinate system direction vector has a large measurement point conversion error. |
| format | Article |
| id | doaj-art-fc9ceb63799c4ac6af000df6975a4a5d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-fc9ceb63799c4ac6af000df6975a4a5d2025-01-10T14:59:38ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-12-0147475246660691Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics CalibrationHuang YuansongXi WenmingSun JiandongThe central axis fitting accuracy of the axis rotation method determines the absolute positioning accuracy of the calibrated robot. In this study, two kinds of axis fitting methods are used, and their fitting accuracies are analyzed. The first kind is the traditional fitting method, which fits the measuring point as a circle and uses the normal vector through the center of the circle as the axis of the robot. The second kind is the improved fitting method, which uses the measuring point to fit the sphere and plane, and obtains the intersecting circle of the fitted sphere and plane. In order to avoid the large geometric parameter calibration error caused by the small error of the over-center normal vector in the traditional method, the line of the center of the double intersecting circle is used as the axis of the robot. Compared with the fitting results of the laser tracker software, the fitted center of the intersecting circle has higher accuracy. The axis vectors of the first and the second axes are used, the axis vector of the first axis and the projection of the axis vector of the second axis on the vertical plane of the first axis are respectively used as the direction vector of the robot base coordinate system, and the conversion matrix of the measurement point from the measurement system to the robot system is constructed. By comparing the measurement point difference after conversion of the two conversion matrices, the conversion matrix using the second axis directly as the base coordinate system direction vector has a large measurement point conversion error.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.007Robot kinematicsAxis rotation calibrationFitting circleIntersecting circleBase coordinate system |
| spellingShingle | Huang Yuansong Xi Wenming Sun Jiandong Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration Jixie chuandong Robot kinematics Axis rotation calibration Fitting circle Intersecting circle Base coordinate system |
| title | Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration |
| title_full | Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration |
| title_fullStr | Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration |
| title_full_unstemmed | Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration |
| title_short | Improvement and Accuracy Analysis of the Axis Fitting Method in Robot Kinematics Calibration |
| title_sort | improvement and accuracy analysis of the axis fitting method in robot kinematics calibration |
| topic | Robot kinematics Axis rotation calibration Fitting circle Intersecting circle Base coordinate system |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.007 |
| work_keys_str_mv | AT huangyuansong improvementandaccuracyanalysisoftheaxisfittingmethodinrobotkinematicscalibration AT xiwenming improvementandaccuracyanalysisoftheaxisfittingmethodinrobotkinematicscalibration AT sunjiandong improvementandaccuracyanalysisoftheaxisfittingmethodinrobotkinematicscalibration |