A Novel Identification Method of Geometric Errors of A Six-Axis Robot with Sweeping Laser Measurement   Kianoosh Rossoli, Kira Shuhei, Soichi Ibaraki       Abstract   To improve the absolute positioning accuracy of a six-axis industrial robot, our group has proposed a novel kinematic model containing not only Denavit-Hartenberg (D-H) parameters but also the bidirectional angular positioning deviations of each rotary axis. This research presents a new scheme to identify this model by using a sweeping laser measurement system. As the first step, this paper only presents the identification of the D-H parameters. A sweeping laser measurement system measures the displacement of the robot end effector in the direction normal to the sweeping laser plane at various positions on it. The main advantage of this measurement method is significantly lower instrumental cost compared to other devices like a laser tracker.   Keywords: six-axis industrial robots, kinematic model, sweeping laser.         >> Back to Home