A Self-Calibration Method for Robot End-Effector Using Spherical Constraints
Source abstract
Abstract
A self-calibration method utilizing spherical constraints is proposed for calibration of robot end-effectors. The method establishes a mathematical model to account for both the geometric errors of the robot and the deformation errors of the end-effector. A nonlinear least-squares parameter identification technique based on spherical constraints is employed to achieve autonomous calibration of the end-effector. Contrasted with methodologies relying on point plane or distance constraints, this novel technique delivers superior positioning accuracy, streamlined operational procedures and enhanced efficiency. Both simulation and experimental validation confirm that the self-calibration method using spherical constraints improves the positioning accuracy of the robot end-effector from 3 mm to 0.3 mm, showing the effectiveness of the method.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Piezoelectric Actuators and Control · Manufacturing Process and Optimization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
China Construction Second Engineering Bureau Ltd., Beijing 101101, China
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Funding
Infrastructure Technology and Equipment Engineering Research Center of China State Construction Engineering Corporation
References (18)
Show source-provided references
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