36 results about "Kinematic calibration" patented technology

Disclosed is a three-dimensional reconstruction method based on kinematic calibration of line structured light point set individualization, and the method includes the following steps: rigidly assembling an area-array camera and a line structured light emitter, and mounting the assembly on a motion platform; calibrating structural parameters of the motion platform of a measuring device by using a reference radius of a standard sphere and line structured light scanned data; registering a spatial position relationship of a line structured light point set by taking a calibrated spherical center position of the standard sphere and the reference radius of the standard sphere as constraints; controlling the five-axis motion platform to move and acquiring scanned data of a measured member under different poses; and completing high-quality three-dimensional model reconstruction of the measured member subjected to multi-pose scanning by using the scanned data and a real-time point cloud registration matrix.

The invention provides a distance identification-based crane tube kinematics calibration method, system and equipment and a medium, and belongs to the technical field of crane tube positioning, a crane tube joint coordinate system and a mechanical arm kinematics model are constructed, differential motion error components generated by each joint coordinate system are transmitted and synthesized step by step, and a mechanical arm kinematics calibration model is constructed. Obtaining a mapping relation between the space error and the kinematics parameter error and the pose deviation of each joint; the loading arm is driven to execute multi-attitude composite motion; target features at different distances and inclination angles are extracted and positioned; establishing a mapping relation between image pixel coordinates and three-dimensional space coordinates, and calculating the depth and coordinates of the target point in the three-dimensional space; and fusing the tail end pose error model and a target actual measurement space coordinate to realize nonlinear optimization and stable convergence of parameter correction. The motion deviation of the end effector is effectively compensated, and the positioning precision is improved. According to the method, calculation of a coordinate system transformation matrix is bypassed, and calibration complexity is reduced.

The invention relates to a parallel robot calibration method, aims to provide a parallel robot compensation method combining data driving with a few-parameter error model, and aims to solve the problems of difficulty in error modeling of a parallel robot with a complex structure and geometric errors and non-geometric errors of residual parts which cannot be identified after traditional kinematics calibration. According to the technical scheme, the method comprises the steps that 1, a closed-loop vector method is used for conducting kinematics analysis on the parallel robot of the complex structure to obtain an inverse kinematics model; 2, establishing a few-parameter geometric error model for the inverse kinematics model by adopting a vector differential method; 3, selecting a least square method optimization function to carry out parameter identification on the parameters of the small-parameter geometric error model; 4, carrying out a kinematics calibration experiment, and updating a parameter identification result to eliminate part of geometric errors; 5, historical data of a calibration experiment are collected, and a Gaussian process regression machine learning model is used for parameter selection and model training; and 6, carrying out prediction compensation on residual unrecognizable geometric errors and non-geometric errors after calibration.

Disclosed in the present invention is a three-dimensional reconstruction method based on kinematic calibration for the monomerization of a line-structured light point set. The method comprises: rigidly combining an area-array camera with a linear-line-structured light emitter, and mounting same on a motion platform; using a standard radius value of a standard sphere and line-structured light scanning data to calibrate structural parameters of the motion platform of a measurement apparatus; with the calibrated spherical center position of the standard sphere and the standard radius of the standard sphere as constraints, calibrating a spatial position relationship of a line-scanned point set; controlling the motion of the five-axis motion platform, and acquiring scanning data of a measured piece in different poses; and using the scanning data and a real-time point cloud calibration matrix to complete high-quality three-dimensional model reconstruction of the measured piece from its multi-pose scanning. The system comprises: an apparatus fixing module, a calibration module, a point cloud calibration module, a scanning module, and a point cloud reconstruction module. By means of using the present invention, the reconstruction accuracy of a line-structured light three-dimensional point cloud model can be improved. The present invention can be widely applied to the field of three-dimensional reconstruction.

The invention discloses a series robot calibration algorithm based on an index product, and the algorithm comprises the following steps: A1, building an index product motion model according to a robot joint axis and coordinate points on the axis through an index product modeling method, a2, differentiating the positions of the robot hand-eye, the kinematics and the calibration object relative to the robot base coordinate system to obtain a hand-eye, kinematics and calibration object position error model based on an exponential product; b1, obtaining an initial value of a robot system hand-eye matrix # imgabs0 # and an initial value of a calibration object relative to the position Bp of a robot base through a closed solution method based on a Kronecker product; b2, taking the difference between the predicted value and the measured value of the base position of the calibration object under the robot base as a target function; and B3, establishing an optimization algorithm by taking the hand-eye, kinematics and calibration object position parameters of the robot as to-be-optimized parameters, and carrying out iterative optimization calculation on the hand-eye, kinematics and calibration object position parameters of the robot by using a Newton iteration method.

Example methods and systems for kinematic calibration of a treatment couch for radiation therapy are described. In one example, a computer system may generate and send first instruction(s) to cause the treatment couch to move towards each of multiple calibration poses. The treatment couch may be associated with a kinematic model. The computer system may determine multiple measured poses that are associated with the respective multiple calibration poses. Next, the computer system may determine geometric correction data for updating the kinematic model based on the multiple measured poses. The computer system may then generate and send second instruction(s) to update the kinematic model associated with the treatment couch based on the geometric correction data.

The invention relates to the technical field of robot control, in particular to a kinematics calibration and measurement pose optimization method for a motion redundancy parallel mechanism, which comprises the following steps of: performing error modeling including redundant error parameters on the basis of inverse kinematics of a motion redundancy parallel mechanism, and then designing a parameter identification algorithm to obtain an optimal measurement pose. According to the method, the divergence problem in the identification process is effectively prevented, and the influence of the measurement error on the identification result is reduced as much as possible.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

The invention provides a sub-closed-loop-containing robot kinematics calibration method and device based on constraint relaxation, and relates to the technical field of robot calibration, and the method comprises the steps: carrying out the decomposition of a main kinematic chain under the condition that there are multiple branches in the main kinematic chain of a robot, so as to generate multiple virtual kinematic chains; according to kinematic parameters and closed-loop geometric constraints of virtual joints in each virtual kinematic chain, the theoretical tail end pose of the robot is determined; parameter errors are determined according to the pose deviation between the theoretical tail end pose and the actual tail end pose of the robot; according to the parameter errors and the calibrated kinematics parameters, the corrected pose deviation is determined; and the active joint displacement is updated according to the corrected pose deviation until the corrected pose deviation or the active joint displacement meets the iteration termination condition, the robot is calibrated according to the determined active joint target displacement, and the calibration precision of the robot is improved.

This invention discloses a kinematic calibration method for hybrid robots with optimized working areas. The method includes: analyzing geometric error sources affecting the end-effector accuracy of the hybrid robot and establishing a kinematic model containing error terms; using a laser tracker to collect the difference between the actual coordinates of the end-effector and the output coordinates of the error model within the reachable range of the hybrid robot to generate a residual function; weighting the residual function according to the distribution of measurement points in the working area within the maximum reachable range of the hybrid robot to generate an improved particle swarm optimization (PSO) fitness function; using the improved PSO iteratively to identify geometric errors in the hybrid robot; and compensating the identified errors to the controller to complete the robot's kinematic calibration. The kinematic calibration method proposed in this invention is simple and efficient, and can be applied to most parallel and hybrid robots.

The present invention discloses an optimal index for accuracy measurement configuration of numerical control equipment and its kinematic calibration method, belonging to the technical field of kinematic calibration design of industrial robots, including S1, establishing a geometric error transfer model of the target robot and screening parameters to be identified; S2, establishing a new index based on the ill-condition theory of matrices and the spatial analysis theory; S3, using the new index as the fitness function of the genetic algorithm to obtain the optimal configuration for parameter identification; S4, using the regularization method to obtain the identification result of geometric error parameters; S5, selecting verification configurations in the full working area for error compensation; The present invention first uses the POE method to establish a geometric error transfer model of the robot and screen identification parameters, then discretizes the working space of the robot and uses it as the optimization range of the genetic algorithm, uses the new index as the fitness function to find the optimal configuration, and finally uses the regularization method for parameter identification. By making a comparative analysis with the previous observability index, the superiority of the new index is revealed.

The present invention provides a robot kinematic calibration method, device and electronic equipment, which establishes a measurement coordinate system in the workspace where the robot is located, sets a distance sensor at its origin, and sets encoders on two mutually perpendicular coordinate axes. The robot is moved to multiple calibration positions by teaching. Based on the distance between the distance sensor and the robot and the rotation angle of the robot relative to the corresponding coordinate axis detected by each encoder, the absolute position of the calibration position in the measurement coordinate system is determined. Based on the absolute positions of multiple calibration position points, the calibration of the kinematic calibration model and the calibration of the transformation relationship between the measurement coordinate system and the robot base coordinate system are realized. This solution uses a distance sensor for distance measurement and two vertically arranged encoders to realize rotation angle measurement. It can measure the absolute position of each calibration position point and then realize kinematic calibration, and can obtain better calibration results with a simple model.

This invention discloses a method for determining the structural error during kinematic calibration simulation of a parallel mechanism, applicable to the calibration of industrial parallel robots. The method involves establishing structural constraint equations for the parallel mechanism to determine independent variables in the structural parameters; combining the structural constraint equations and independent variable values ​​to calculate the values ​​of non-independent variables in the structural parameters; calculating the motion of each prismatic joint under ideal structural parameter conditions with a given target pose, establishing the correlation between pose parameters and motion; given an initial structural error value, calculating the structural error value conforming to geometric constraints using constraint equations and nonlinear least squares method, and calculating the norm of the residuals. If the residuals meet the requirements, the structural error for kinematic calibration simulation of the parallel mechanism can be generated; if the residual value does not meet the requirements, the generated structural error is used as input, and a new structural error value is generated again using constraint equations and nonlinear least squares method, and the residual calculation is repeated until the residual value meets the requirements, thus generating a structural error that meets the requirements and accurately verifying the structural error identification accuracy of the error model.

Disclosed are a pose decoupling kinematics calibration method, device and apparatus, and a storage medium. The method includes the following steps: constructing a pose decoupling motion model based on an equivalent rotation vector and a rigid body motion transformation rule; introducing a pose error, and carrying out pose space decomposition through the pose decoupling motion model to obtain an orientation error expression and a position equivalent expression; analyzing a coupling influence of an orientation change on a position according to the orientation error expression and the position equivalent expression to obtain a pose coupling increment; constructing a target decoupling calibration model according to the pose coupling increment and an initial decoupling calibration model; and solving geometric errors in different degrees of freedom for the target decoupling calibration model according to a preset axis pose error by a least square method to obtain a calibration error.

The present application relates to a robot kinematics calibration method based on truncated total least squares regularization, and a parallel robot is provided with a data acquisition system, including a moving platform, a base, a branch chain and a linear motor. The method comprises: obtaining the kinematics parameters of the parallel robot, inputting the inverse kinematics parameter error model, obtaining the conversion error between the coordinate systems and the mapping relationship between the kinematics parameter errors, obtaining the measurement data of the data acquisition system and the conversion relationship between the coordinate systems, making the measurement data uniform in the base coordinate system, identifying the parameter error through the truncated total least squares regularization method, optimizing the selection of the truncation factor, obtaining the best regularization parameter, and compensating according to the identified parameter error to update the controller kinematics parameters. The present application designs a complete low-cost and mature calibration scheme for most parallel robots, which can improve the kinematics calibration accuracy of the parallel robot.

A pose-decoupled kinematic calibration method, apparatus and device, and a storage medium. The method comprises: constructing a pose-decoupled motion model on the basis of an equivalent rotation vector and a rigid body motion transformation rule (101); introducing a pose error, and performing pose space decomposition by means of the pose-decoupled motion model to obtain an orientation error expression and a position equivalent expression (102); analyzing the coupling effect of an orientation change on a position on the basis of the orientation error expression and the position equivalent expression so as to obtain a pose coupling increment (103); constructing a target decoupled calibration model on the basis of the pose coupling increment and an initial decoupled calibration model, wherein the initial decoupled calibration model is constructed on the basis of the pose-decoupled motion model (104); and using the least squares method to perform geometric error calculation of different degrees of freedom on the target decoupled calibration model on the basis of preset axial pose errors, so as to obtain a calibration error (105). The method can solve the technical problem in the prior art that the influence of an orientation on a position in a multi-degree-of-freedom motion system is not considered, making it is difficult to eliminate an error difference between different degrees of freedom, and thus resulting in poor calibration and compensation effects.

The present application relates to a kind of error compensation methods, the purpose is to provide a kind of 2PRU-PSR parallel robot error compensation method, this method has the characteristics of low cost, high efficiency and real-time nature.The technical scheme is a kind of 2PRU-PSR parallel robot error compensation method, according to the following steps:step one: using closed loop vector method to establish the inverse kinematics model of 2PRU-PSR parallel robot and using Newton iteration formula to calculate to obtain complete forward kinematics model;Step two: set error parameter, utilize vector differential method to construct 2PRU-PSR parallel robot error mapping model;Step three: complete kinematic parameter identification and calibrate simulation to verify the correctness of the model built;Step four: using the nonparametric model based on neural network to the end of 2PRU-PSR parallel robot after kinematic calibration remaining error is predicted, using nonparametric model to predict error to complete compensation.

A kinematic calibration and positioning error compensation method that takes into account the deformation of the mechanism can be used to improve the accuracy of robot positioning operations. The deformation is calculated using the superposition method, and the deformation difference is calculated in combination with finite element simulation analysis. The numerical analysis software is used to fit the interpolation curve to establish a deformation model; based on the deformation model, the particle swarm algorithm is used to calculate the corresponding posture error. Based on the multi-body dynamics modeling analysis, the force acting on the telescopic rod ball joint and the friction force at the follower moving pair are analyzed to further calculate the corresponding posture error. The posture errors are added together to obtain the posture error caused by elastic deformation. During the calibration test, the posture error caused by the structural error is separated from the posture error caused by the elastic deformation of the mechanism to improve the identification accuracy; during the error compensation, the posture error caused by the deformation of the mechanism is considered, and the target posture is re-positioned to improve the compensation accuracy; further, a machine learning method is used to establish a correlation between the target positioning posture and the motion of the moving pair. The method of the present invention is simple and easy to implement, which is conducive to improving the accuracy of robot operations and meeting the accuracy requirements of intelligent assembly.

The present invention discloses a three-dimensional reconstruction method based on the kinematic calibration of a single-line structured light point set. The method includes: rigidly combining a planar array camera with a one-dimensional line structured light emitter and installing them on a motion platform; using the standard value of the standard ball radius and the line structured light scanning data to calibrate the structural parameters of the motion platform of the measuring device; taking the position of the center of the calibrated standard ball and the standard radius of the standard ball as constraints to calibrate the spatial position relationship of the line scan point set; controlling the five-axis motion platform to move and obtaining the scanning data of the measured part at different poses; using the scanning data and the instant point cloud calibration matrix to complete the high-quality three-dimensional model reconstruction of the multi-pose scanning of the measured part. The system includes: a device fixing module, a calibration module, a point cloud calibration module, a scanning module, and a point cloud reconstruction module. By using the present invention, the reconstruction accuracy of the three-dimensional point cloud model of the line structured light can be improved. The present invention can be widely applied to the field of three-dimensional reconstruction.

The application provides a kinematic calibration method and system for a redundant drive over-constrained parallel robot, comprising: constructing a companion error model of each branch of the ROPR by using an exponential product method; describing motion deviation of a redundant joint angle in the error model, and treating deviation of a non-redundant active joint angle as zero; establishing an error feasible space based on a configuration constraint equation; eliminating joint motion error by using a projection method, and establishing an error matrix of the ROPR; measuring end position and posture error of the robot by using a laser tracker; identifying error parameters of the ROPR by using a least square method; and determining drive input of the ROPR according to the identified parameters and performing error compensation. The kinematic calibration method has universality and is easy to be popularized to other redundant drive parallel robots. The kinematic calibration method starts from inherent characteristics of the redundant drive over-constrained parallel robot, and ensures rationality of the error model.

The invention discloses an industrial robot distance residual error modeling compensation method based on PSO-XGBoost. The method comprises the steps that M actual positions of an industrial robot are collected; according to joint information displayed by a robot controller, a homogeneous transformation matrix equation from a robot tail end coordinate system to a base coordinate system is established, and a nominal position from the robot tail end coordinate system to a robot base coordinate system is calculated, called a first nominal position for short; an industrial robot distance error model is constructed, the robot is calibrated, and robot joint parameter errors are obtained; compensating the robot joint parameter error into a robot controller to obtain a compensation distance after kinematics calibration and a compensation distance error after kinematics calibration; establishing a robot residual error model according to the robot joint parameter error; obtaining input parameters according to the robot residual error model; a PSO-XGBoost model is adopted to predict the compensation distance error after kinematics calibration, and the predicted compensation distance error after kinematics calibration is obtained; and compensating the kinematics calibrated compensation distance according to the predicted kinematics calibrated compensation distance error to obtain a residual error compensated distance. Through a double-stage compensation mechanism of model driving and data driving, the precision bottleneck of a single calibration method is broken through, and the distance precision of the industrial robot is improved.

This invention relates to the field of force-position coordinated impedance control technology, and particularly to a force-position coordinated control method for compliant assembly of aircraft fuselage frames. The method includes steps such as kinematic calibration of a CNC positioner, calibration of the installation direction of the force sensor at the positioner's end effector, dynamic modeling of the fuselage bulkhead and linear response analysis of the fuselage web, trajectory planning for the fuselage bulkhead attitude adjustment and positioning process, design of the positioner control law for the fuselage bulkhead attitude adjustment and positioning process, and design of the positioner control law for the fuselage bulkhead and web mating process. Compared to traditional kinematic accuracy compensation strategies based on error differential transformation, this invention establishes a positioner kinematic model based on fitting the CNC positioner axis and hinge joint zero position using spatially measured points. This model requires no design information from the positioner, is applicable to any geometric error of the positioner, and achieves coordinated optimization of the positioning accuracy of the fuselage bulkhead during fine-tuning and the contact force between it and the fuselage web, possessing the ability to perform comprehensive optimal control of force and position.

The invention provides a parallel robot kinematics parameter identification method based on an improved black wing algorithm. According to the method, the precision and the stability of parameter identification are improved by establishing the forward kinematics error model and combining the improved black wing plinary algorithm and the least square method. And by introducing an alternating complementation method and a positive remainder strategy, the local optimization and initialization capability of the improved black-wing plinary algorithm is further enhanced. Simulation and experiment results show that the algorithm can significantly improve the kinematics calibration precision of the parallel robot, especially has excellent performance in the aspect of error compensation, and the average position errors of the calibrated robot in the x direction, the y direction and the z direction are reduced to 0.0804 mm, 0.0597 mm and 0.0404 mm from 0.3375 mm, 1.0602 mm and 1.4161 mm respectively, so that the method has high practical application value.

The present invention discloses a method for correction and kinematic calibration of the motor and joint angle conversion of a rope-pulled flexible robot, aiming to obtain an accurate kinematic model of the rope-pulled flexible robot. The method comprises: obtaining the accurate motor and joint angle conversion relationship based on a numerical fitting method and a time-series neural network for error compensation; and proposing a kinematic calibration method based on a minimum kinematic parameter error model and combined with an artificial neural network, which takes into account the influence of non-geometric factors such as kinematic parameter errors and rope elasticity. This method addresses the model uncertainty of the rope-pulled flexible robot caused by the rope, and while being based on the actual physical model of the robot, it combines a data-driven neural network method. Compared with the robot nominal kinematic model and the conventional rigid robot kinematic calibration method, the present invention can obtain a more accurate and practical robot kinematic model.

The present invention discloses a kinematic calibration method for a serial manipulator based on an improved vulture search algorithm. This method consists of two parts: measuring the position and attitude data of the end of the serial manipulator and optimizing and solving the kinematic parameter errors. The pose measurement data is input into the optimization algorithm, and the optimization algorithm outputs the estimated value of the kinematic parameter errors. This method improves the vulture search optimization algorithm. In view of the situation that there are errors between the nominal values and the actual values of the kinematic model parameters of the manipulator, resulting in errors in the end pose of the manipulator, kinematic calibration is carried out, the optimal estimation of the kinematic parameter errors is solved and substituted into the forward kinematics compensation to improve the absolute pose accuracy of the end of the serial manipulator. Examples show that in the kinematic calibration problem, the improved variable parameter vulture search algorithm has stronger global optimization ability, better convergence performance and higher time efficiency compared with other search optimization algorithms that have been applied in this field.

A vision-based kinematic calibration method for industrial robots in large workspaces solves the problem that existing vision-based robot kinematic calibration methods can only improve the absolute positioning accuracy of robots within a limited space due to field of view limitations, and belongs to the field of robot kinematic calibration technology. The present invention includes: laying out ArUco markers in the workspace according to the configuration of the industrial robot; using a monocular vision system to capture ArUco marker images according to a set shooting path to generate a fully covered ArUco map; using a monocular vision system to capture ArUco marker images in different robot postures, constructing an absolute position model of the robot end, and obtaining a measured posture; calculating the error matrix between the end nominal posture and the measured posture based on the robot joint angles and nominal values ​​of the kinematic parameters; establishing a posture error model, and obtaining the robot kinematic parameter error based on the error matrix.

The invention relates to the technical field of robot calibration, in particular to a two-step hybrid robot kinematics calibration method and device.The method comprises the steps that a first geometric error model used in first-step identification is established, the first geometric error model is used for conducting iteration identification on errors, and a first identification error of a hybrid robot is obtained; and a second geometric error model used in the second-step identification is established, the second geometric error model is used for carrying out single-time error identification, a second identification error of the hybrid robot is obtained, the sum of the first identification error and the second identification error is obtained, a final identification error of the hybrid robot is obtained, and calibration of the kinematics of the hybrid robot is carried out. Therefore, the problem that an existing calibration method is low in precision and efficiency due to the complex structure of the hybrid robot is solved.

This invention discloses a dynamic task scheduling system for robotic arms in a flexible shoe manufacturing production line, aiming to solve the problems of low equipment utilization, easy line-wide shutdown due to single-point failures, and insufficient adaptability to shoe manufacturing processes caused by the fixed binding of robotic arms to workstations in existing shoe manufacturing production lines. This system includes a process-homogeneous adaptation hardware unit, a global status perception unit, and a core dynamic task scheduling engine. Through a unified quick-change standard and kinematic calibration, it enables robotic arms to perform cross-workstation operations within the same process. Combined with real-time status perception across the entire production line, it completes dynamic task scheduling and uninterrupted fault takeover. It is equipped with modules specific to shoe manufacturing processes, such as dynamic calibration, time-series coupled scheduling, and quality closed-loop feedback. This invention can significantly improve the overall utilization rate of robotic arms and the fault tolerance of the production line, adapting to mixed production lines of multiple shoe styles and small-batch customized production, significantly improving the flexibility, production efficiency, and product yield of shoe manufacturing production lines.

The invention belongs to the technical field of industrial robot precision measurement and kinematics calibration, and particularly relates to a mobile robot base elevation precision calibration method based on a tail end joint. According to the method, a laser tracker and a robot tail end short chain motion strategy are combined, and local high-rigidity motion of a fifth shaft and a sixth shaft of a robot tail end joint is utilized; according to the calibration method, tail end actual measurement pose data under a laser tracker coordinate system and nominal kinematics data under a robot base coordinate system are subjected to alignment resolving through a decentration singular value decomposition algorithm. According to the method, the requirements of efficient data acquisition speed, extremely high parameter identification stability and final positioning precision for base calibration in the field rapid deployment of the mobile robot are met, and the problems in traditional full-axis linkage calibration, especially in the traditional full-axis linkage calibration are solved. The problems of large data dispersion and low precision caused by substantial amplification of basic joint angle measurement error and geometric parameter deviation through a long kinematic chain are solved.

This invention relates to the field of robotics, and more particularly to a method, apparatus, electronic device, and readable storage medium for robot kinematic calibration. The method involves acquiring joint angle data of at least two kinematic chains of a robot to be calibrated, as well as observed pose data of a target calibration object. Based on the joint angle data and a pre-constructed kinematic model, the predicted pose of the target calibration object for each kinematic chain is determined. An optimization objective function is constructed based on the residual between the predicted target calibration object pose and the observed pose data, with the robot's pose in the base coordinate system added as an optimization variable to the objective function. The optimization objective function is solved to obtain the calibration error parameters of each joint and the pose of the target calibration object in the robot's base coordinate system, which are then used as the kinematic calibration results. By using the calibration error parameters of common joints as shared variables and simultaneously solving for the pose in the robot's base coordinate system as an optimization variable, the accuracy of robot kinematic calibration is improved.