Laboratory of Intelligent Information Systems for Marine Robots, Institute of Marine Technology Problems, 690091 Vladivostok, Russia.
Robotics Laboratory, Institute of Automation and Control Processes, 690041 Vladivostok, Russia.
Sensors (Basel). 2022 Apr 28;22(9):3376. doi: 10.3390/s22093376.
This paper proposes a method for the identification of kinematic parameters of multilink series industrial robots, which does not require the use of complex and expensive equipment for high-precision external measurements of the position and orientation of an end effector in a Cartesian coordinate system. This method, by means of simple and affordable tools, enables us to achieve a significantly increased accuracy of movement of end effectors in serial robots performing various technological operations. The proposed method is experimentally verified and can be applied directly in production lines.
本文提出了一种多连杆串联工业机器人运动参数识别方法，该方法不需要使用复杂且昂贵的设备对笛卡尔坐标系中末端执行器的位置和姿态进行高精度外部测量。通过使用简单且经济实惠的工具，该方法能够显著提高执行各种技术操作的串联机器人末端执行器的运动精度。所提出的方法经过实验验证，可直接应用于生产线。
