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A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model

Tao Zhang (Institute of Plasma Physics Chinese Academy of Sciences (ASIPP), Chinese Academy of Sciences, Beijing, China; University of Science and Technology of China, Hefei, China and Lappeenranta University of Technology (LUT), Lappenranta, Finland)
Yuntao Song (Institute of Plasma Physics Chinese Academy of Sciences (ASIPP), Chinese Academy of Sciences, Beijing, China)
Huapeng Wu (Lappeenranta University of Technology (LUT), Lappenranta, Finland)
Qi Wang (Institute of Plasma Physics Chinese Academy of Sciences (ASIPP), Chinese Academy of Sciences, Beijing, China and Huainan New Energy Research Center, Anhui Provincial Key Laboratory of Special Welding, Hefei, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 16 September 2020

Issue publication date: 19 March 2021

306

Abstract

Purpose

Every geometric model corresponding to a unique feature whose errors of parameters uncorrelated, so the linearization technique can be successfully applied. The solution of a linear least square problem can be applied straightforwardly. This method has advantages especially in calibrate the redundant robot because it’s relatively small. The parameters of kinematics are unique and determined by this algorithm.

Design/methodology/approach

In this paper, a geometric identification method has been studied to estimate the parameters in the Denavit–Hartenberg (DH) model of the robot. Through studying the robot’s geometric features, specific trajectories are designed for calibrating the DH parameters. On the basis of these geometric features, several fitting methods have been deduced so that the important geometric parameters of robots, such as the actual rotation centers and rotate axes, can be found.

Findings

By measuring the corresponding motion trajectory at the end-effector, the trajectory feature can be identified by using curve fitting methods, and the trajectory feature will reflect back to the actual value of the DH parameters.

Originality/value

This method is especially suitable for rigid serial-link robots especially for redundant robots because of its specific calibration trajectory and geometric features. Besides, this method uses geometric features to calibrate the robot which is relatively small especially for the redundant robot comparing to the numerical algorithm.

Keywords

Acknowledgements

Thanks to the ASIPP and LUT’s work fellow for the inspiration about this geometric algorithm, especially a senior fellow apprentice Kun Wang. This project is funded by the Comprehensive Research Facilities in Support of CFETR (2017YFE0300503).

Citation

Zhang, T., Song, Y., Wu, H. and Wang, Q. (2021), "A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model", Industrial Robot, Vol. 48 No. 1, pp. 157-167. https://doi.org/10.1108/IR-05-2020-0103

Publisher

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Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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