Parameter identification of 6-DOF manipulator

Xuan Li; Yan Wang; Wensong Jiang; Zai Luo; Li Yang

doi:10.1117/12.2666855

27 January 2023 Parameter identification of 6-DOF manipulator

Xuan Li, Yan Wang, Wensong Jiang, Zai Luo, Li Yang

Proceedings Volume 12550, International Conference on Optical and Photonic Engineering (icOPEN 2022); 125500N (2023) https://doi.org/10.1117/12.2666855
Event: International Conference on Optical and Photonic Engineering (icOPEN 2022), 2022, ONLINE, China

Abstract

To reduce the absolute position error, this paper mainly uses Regularized Parameter Identification (RPI) method to in-situ calibrate the kinematic model of a manipulator. Firstly, the model is built according to the MDH modeling method to get the parameter error model. Secondly, as a parameter identification process, the regularization algorithm is used to compensate all the errors on the model of the manipulator. Thirdly, a calibration experiment is carried out to verify the RPI method by using a laser tracker. The experiment results show that the uncalibrated absolute position error of the manipulator is 0.553mm for RPI and 2.533mm for that without calibration. It shows that the regularization algorithm can effectively reduce the absolute position error of the robot after calibration.

Citation Download Citation

Xuan Li, Yan Wang, Wensong Jiang, Zai Luo, and Li Yang "Parameter identification of 6-DOF manipulator", Proc. SPIE 12550, International Conference on Optical and Photonic Engineering (icOPEN 2022), 125500N (27 January 2023); https://doi.org/10.1117/12.2666855

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