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Robot kinematic parameter error calibration based on Levenberg-Marquardt and artificial rabbits optimization

Mengyao Fan1, Huining Zhao1, Fei Liu2

  • 1School of Instrument Science and Opto-Electronics Engineering, Hefei University of Technology, Hefei 230009, China.

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This study introduces a new robot calibration method combining the Levenberg-Marquardt algorithm with artificial rabbits optimization. The enhanced technique significantly reduces robot positioning errors, improving overall accuracy.

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Area of Science:

  • Robotics
  • Control Systems
  • Optimization Algorithms

Background:

  • Robot positioning accuracy is crucial for industrial applications.
  • Traditional calibration methods like Levenberg-Marquardt can be limited by rounding errors.
  • Improved calibration techniques are needed to enhance robot precision.

Purpose of the Study:

  • To propose a novel robot calibration method integrating Levenberg-Marquardt and artificial rabbits optimization.
  • To enhance the accuracy of robot kinematic parameter calibration.
  • To validate the effectiveness of the proposed method through simulations and experiments.

Main Methods:

  • Establishing a robot kinematic error model using a modified Denavit-Hartenberg model.
  • Performing initial calibration with the Levenberg-Marquardt algorithm.
  • Applying the artificial rabbits optimization algorithm for accurate calibration of kinematic parameter errors.

Main Results:

  • The combined method significantly reduced mean positioning errors in simulations (1.6348 mm to 0.0244 mm) and validation experiments (0.8303 mm to 0.1636 mm).
  • Measurement error in a standard ring gauge application decreased from 0.1239 mm to 0.0623 mm.
  • The proposed method demonstrated superior accuracy compared to existing techniques.

Conclusions:

  • The novel calibration method effectively improves robot positioning accuracy.
  • Combining Levenberg-Marquardt with artificial rabbits optimization overcomes limitations of traditional algorithms.
  • This approach offers a significant advancement in precise robot calibration for various applications.