This paper proposes a novel calibration method for robot kinematic parameters by constraining a command point. At first, the profile errors derived from measuring the sphere surface by a laser displacement sensor are estimated and analyzed. A three-step measurement procedure is performed around a command point with only one single laser displacement sensor. Then, a kinematic error model including both the robot parameter errors and the errors between the robot base frame and the measurement frame is established. An identification algorithm comprising the least square method and the particle swarm optimization algorithm is developed. Comparison simulations are carried out with the proposed method, a least square method, and the traditional identified method. Experiments show that the estimated compensation results are significant, with the mean reduced from 10.259 mm to 0.845 mm. A verification experiment shows the mean of the relative deviations is decreased from 1.674 mm to 0.5...

中文翻译：

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用激光位移传感器校准带点约束的工业机器人运动学参数的测量方法

通过约束一个指令点，提出了一种新颖的机器人运动学参数标定方法。首先，估算和分析由激光位移传感器测量球体表面得出的轮廓误差。仅使用一个激光位移传感器围绕一个命令点执行三步测量程序。然后，建立包括机器人参数误差和机器人基础框架与测量框架之间的误差的运动误差模型。提出了包含最小二乘法和粒子群优化算法的识别算法。用所提出的方法，最小二乘法和传统的识别方法进行了比较仿真。实验表明，估算的补偿结果是显着的，平均值从10.259毫米减少到0.845毫米。验证实验表明，相对偏差的平均值从1.674毫米减小到0.5 ...