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《Acta Metrologica Sinica》 2007-03
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Research on Robot's Positioning Accuracy Calibration

LI Ding-kun,YE Sheng-hua,REN Yong-jie,WANG Yi(State Key Lab of Precision Measuring Technology & Instruments,Tianjin University,Tianjin 300072,China)  
In order to improve the precision of robot position and pose,depending on robot link parameters accuracy,it is needed to calibrate the robot.Establishing a robot kinematics model,and based on MDH model and differential coefficient kinematics identifying the influence of the link parameters error on the precision of robot,the positioning accuracy of robot by least square techniques is corrected.The experiment shows this method is practicable to calibrate the robot link parameter error and can improve the over-all properties.
【Fund】: 天津市应用基础研究重点项目(05YFJZJC01700)
【CateGory Index】: TP242
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【Citations】
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