关键词: 工业机器人, 运动学标定, 误差模型, 基坐标系位姿误差

Abstract: A six-axis serial robot error calibration method  was proposed based on the robot geometric parameter errors and the base frame position and attitude errors. Firstly， an geometric parameter error model of the IRB6700 robot was established based on the MD-H method， and the mapping relationship between the geometric parameter errors of the robot connecting rods and the end pose errors of the robot was obtained. Then， the position and attitude errors of the base frame were further considered， and the robot error model  was established considering the errors of the base frame. In addition， to address the cumbersome operation and large accidental errors of traditional calibration methods， an improved parameter identification method was proposed to further improve the operability and calibration accuracy of the calibration processes. Finally， the body calibration experiments and the base frame error disturbance experiments were carried out. The results show that the proposed method decreases the average position error of the robot from 3.1928 mm to 0.1756 mm， and the standard deviation of the position errors decreases from 0.5494 mm to 0.0830 mm. Moreover， the consistency of the parameter identification results under base frame error disturbance is higher than 99%， and the calibration accuracy and stability are improved. 

Key words: industrial robot,  , kinematics calibration,  , error model,  , base frame position and attitude error