The invention discloses a
robot kinematics parameter calibration method based on four PSDs, relates to the technical field of joint
robot calibration, and aims to solve the problem that the
absolute calibration precision of an
industrial robot is directly influenced by the
pose precision of a tool
system relative to the
tail end of the
robot and the
pose precision of a PSD device relative to the robot in an existing calibration method. The method comprises the following steps of S1, establishing a measurement
system, S2, measuring the light state, S3, calculating the
linear distance of different planes under an O1
system, S4, establishing a
robot kinematics parameter error identification model, S5, calculating the
linear distance of different planes under an O system, and S6, constructing an error constraint equation to identify and solve the
robot kinematics parameter error. According to the method, the
robot kinematics parameter error model is constructed based on the distance between the
laser lines in different planes, the robot
kinematics parameter error is identified through the PSO
algorithm, the method does not depend on the
pose precision of a tool system relative to the
tail end of the robot and the pose precision of a PSD device relative to the robot, and the robot
kinematics parameter calibration precision is improved.