Method of Using Flat Plate as Calibration Tool for Robot Tool Center Point Calibration

HAN Fenglin; LI Peng; TAN Donghe; LI Dan; SHAO Dongshi; YAN Hongzhi

doi:10.3969/j.issn.0258-2724.20180807

Volume 55 Issue 1

Jan. 2020

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Journal of Southwest Jiaotong University > 2020 > 55(1): 60-67.

HAN Fenglin, LI Peng, TAN Donghe, LI Dan, SHAO Dongshi, YAN Hongzhi. Method of Using Flat Plate as Calibration Tool for Robot Tool Center Point Calibration[J]. Journal of Southwest Jiaotong University, 2020, 55(1): 60-67. doi: 10.3969/j.issn.0258-2724.20180807

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HAN Fenglin, LI Peng, TAN Donghe, LI Dan, SHAO Dongshi, YAN Hongzhi. Method of Using Flat Plate as Calibration Tool for Robot Tool Center Point Calibration[J]. Journal of Southwest Jiaotong University, 2020, 55(1): 60-67. doi: 10.3969/j.issn.0258-2724.20180807

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Method of Using Flat Plate as Calibration Tool for Robot Tool Center Point Calibration

doi: 10.3969/j.issn.0258-2724.20180807

HAN Fenglin^{1,2
,},
LI Peng^1,2,
TAN Donghe³,
LI Dan³,
SHAO Dongshi^1,2,
YAN Hongzhi^1,2

Received Date: 21 Sep 2018
Rev Recd Date: 11 Mar 2019

Available Online: 16 Jul 2019

Publish Date: 01 Feb 2020

Abstract

Abstract

To obtain the tool center point (TCP) parameters readily and accurately in the industrial field and reduce the positioning error of robot end tools, a robot TCP calibration method utilizing a flat plate as calibration tool is proposed. The robot TCP parameter calibration model is established under the constraint that the space contact points between the robot TCP and the flat should be coplanar. In the cases of unknown and known TCP nominal parameters, based on the particle swarm optimization (PSO) algorithm, the direct solution and linearization deviation solution algorithms for TCP are put forward respectively. The feasibility and accuracy of the proposed methods are verified by numerical simulation and calibration experiment. Compared with the traditional four-point calibration method, the error of TCP direct solution and deviation solution algorithm is less than 0.5 mm and 1.0 mm, respectively. The calibration method proposed is simple and easy to implement, and possesses high calibration efficiency and precision.
- robot,
- TCP calibration,
- flat plate calibration,
- calibration algorithm

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References(16)

References

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