Identification of a kinematic model of a 6DOF industrial manipulator with angular positioning deviation ‘error map’ of rotary axes   Md Moktadir Alam, Soichi Ibaraki, Koki Fukuda, Sho Morita, Hiroshi Usuki       Abstract   To improve the overall “absolute” positioning accuracy for the industrial manipulator, it is indispensable to calibrate its kinematic parameters. In conventional studies, researchers have focused on Denavit–Hartenberg (D-H) parameters. However, until now, for industrial manipulators, the absolute accuracy is significantly poor than its repeatability. In this study, we propose a new kinematic model of a 6DOF (degrees of freedom) industrial manipulator with the angular positioning deviation “error map” of each rotary axis. The angular positioning deviation is modeled as a function of command angular positions, as well as the rotation direction to model the influence of backlash. We also propose a method to identify the angular positioning deviation of all the rotary axes by using a laser tracker.   Keywords: Kinematic Calibration, Industrial Manipulator, Laser Tracker, Robot.         >> Back to Home