Jinhe Zhang2, Jie Liu1,2,*
The International Conference on Computational & Experimental Engineering and Sciences, Vol.25, No.4, pp. 1-2, 2023, DOI:10.32604/icces.2023.09279
Abstract The small uncertainties of geometric parameters of industrial robot, which are caused by links
manufacturing and service wear errors, can deteriorate the positioning accuracy of end-effector through
multi-level propagation and is difficult to be measured and compensated by high-precision instruments.
Hence, an efficient inverse identification method of parameter uncertainty based on global sensitivity
analysis and optimal measurement point selection is proposed. In order to ensure the universality of
identification results in calibration and control works, the standard Denavit-Hartenberg (D-H) method is
employed to establish the kinematic model of series 6 degrees of freedom (DOF) robots. Considering the
stochastic error between… More >
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