关键词: 工业机器人, 参数辨识, 定位精度, 激光跟踪仪, 误差补偿

Abstract:

he position and pose accuracy of the robot end depends on the geometrical parameters accuracy of each joint． An easy and practical method of parameter identification method is put forward to improve the pose accuracy． Using the robot kinematics equation depending on D-H algorithm，the relationship between the end and each joint is obtained． This particular method as well as the corresponding experiment is designed to solve the problems in the identification process，the actual geometric structure parameters are obtained according to the accurate measurement by laser tracker． The experimental results verify the effectiveness of the presented method．

Key words: parameter identification, position accuracylaser tracker, error compensation