Method for improving absolute positioning precision based on six-degree-of-freedom series mechanical arm
A technology of absolute positioning accuracy and manipulators, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as impact, structural mismatch, and restrictions on high-precision tasks of manipulators
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[0098] DETAILED DESCRIPTION
[0099] Such as figure 1 As shown, the scene of the industrial robot arms is selected for the implementation of the technical solution, and the apparatus consists of a robotic arm, a laser tracking device, a clamping target of the clamping target, and the target is mounted on the end of the robot to determine the end point. Wherein, the arm of the robot arm is known, the parameters of the robotic arm figure 2 As shown, the sixth axis lever length information is set to 0, and the remaining shaft is set to
[0100] l 1 = 455mm, L 2 = 592mm, L 3 = 153mm, L 4 = 638mm, L 5 = 193mm, L 6 = 150mm. The robot has been calibrated and returned to zero before the factory. At the same time, the clamp length is known, and the installed fixture is guaranteed to the end flange.
[0101] First rotate the 5 axis, fit the center arc center, find the arc radius, to obtain the parameter L 5 = 193.16mm, turn the 1 axis, and sample the laser tracking device, obtain a circular...
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