Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly restricts its application in high-precision manufacture, like automobile manufacture. Aiming at addressing this hot issue, this work proposes a novel robot arm calibration method based on cubic interpolated beetle antennae search (CIBAS). This study has three ideas: a) developing a novel CIBAS algorithm, which can effectively addresses the issue of local optimum in a Beetle Antennae Search algorithm; b) utilizing a particle filter to reduce the influence of non-Gaussian noises; and c) proposing a new calibration method incorporating CIBAS algorithm and particle filter to searching the optimal kinematic parameters. Experimental results on an ABB IRB120 industrial robot arm demonstrate that the proposed method achieves much higher calibration accuracy than several state-of-the-art calibration methods.

中文翻译：

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基于三次插值甲虫天线搜索方法的新型机械臂标定方法

工业机器人手臂对于智能制造非常重要。工业机械臂普遍具有重复定位精度高的特点，而绝对定位精度低，极大地限制了其在汽车制造等高精度制造领域的应用。针对这一热点问题，本工作提出了一种基于三次插值甲虫天线搜索（CIBAS）的新型机械臂标定方法。本研究有三个想法： a) 开发一种新的 CIBAS 算法，可以有效解决甲虫天线搜索算法中的局部最优问题；b) 利用粒子滤波器减少非高斯噪声的影响；c) 提出一种结合CIBAS算法和粒子滤波的新标定方法来寻找最优运动学参数。