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Precision Denavit-Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent

Mojtaba A Khanesar1, Minrui Yan1, Mohammed Isa1

  • 1Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK.

Sensors (Basel, Switzerland)
|July 8, 2023
PubMed
Summary
This summary is machine-generated.

This study calibrates industrial robot Denavit-Hartenberg (DH) parameters using metaheuristic algorithms and laser tracker data. The artificial bee colony algorithm improved forward kinematics (FKs) accuracy by 20.3%.

Keywords:
Denavit–Hartenberg parameter calibrationartificial intelligence for optimizationcollaborative robotsforward kinematic calibrationindustrial robotslaser tracker systempositional accuracy

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Area of Science:

  • Robotics
  • Metrology
  • Optimization Algorithms

Background:

  • Industrial robot precision relies on accurate end-effector positioning via forward kinematics (FKs).
  • FKs depend on Denavit-Hartenberg (DH) parameters, which are susceptible to uncertainties from wear, manufacturing, and calibration errors.
  • Reducing DH parameter uncertainty is crucial for enhancing FK accuracy.

Purpose of the Study:

  • To calibrate industrial robot DH parameters to improve FK accuracy.
  • To evaluate the effectiveness of metaheuristic optimization algorithms for DH parameter calibration.
  • To quantify the accuracy improvement achieved using laser tracker measurements.

Main Methods:

  • Utilized differential evolution, particle swarm optimization, artificial bee colony, and gravitational search algorithms for DH parameter calibration.
  • Employed a Leica AT960-MR laser tracker system for high-accuracy positional measurements (< 3 μm/m).
  • Applied metaheuristic optimization to laser tracker data to refine DH parameter values.

Main Results:

  • The artificial bee colony optimization algorithm demonstrated significant improvement in FK accuracy.
  • Mean absolute errors for static and near-static motion decreased from 75.4 μm to 60.1 μm.
  • Achieved a 20.3% improvement in industrial robot FK accuracy using the proposed calibration method.

Conclusions:

  • Metaheuristic optimization, particularly the artificial bee colony algorithm, effectively calibrates industrial robot DH parameters.
  • Accurate metrology, like laser tracking, is vital for precise robot calibration.
  • The developed approach significantly enhances the accuracy of industrial robot forward kinematics.