Abstract：A practical algorithm is presented to calibrate all the geometric parameters of general 7R redundant serial robots.First of all,D-H matrix is used to construct a kinematics model and a geometric parameter identification model for the robot,singular value decomposition(SVD) for Jacobian matrix is given,and elementary row operations are applied to the last 5 rows of the matrix to find the geometric parameters to be compensated.According to the measured values of the joint angles and the end-effector positions,Jacobian matrix is calculated,and errors between the desired and the measured positions of the end-effector are exported to the least square method to determine the compensation for the dimensional parameters of the robot.The simulation shows that the algorithm is stable and reliable in the presence of small measurement disturbance.At last,an experiment of measurement and calibration is made on the robot,and the results obtained are effective and satisfactory.
 Bai Y,Zhuang H Q,Roth Z S.Experiment study of PUMA calibration using a laser tracking system[A].Proceedings of the IEEE International Workshop on Soft Computing in Industrial Applications[C].Piscataway,USA:IEEE,2003.139-144.  Zhuang H Q,Roth Z,Wang K.Robot calibration by mobile camera systems[J].Journal of Robotic Systems,1994,11 (3):155-167.  Zhuang H Q.Self-calibration of parallel mechanisms with a case study on Stewart platforms[J].IEEE Transactions on Robotics and Automation,1997,13(3):387-397.  Bennett D J,Hollerbach J M.Self-calibration of single-loop,closed kinematic chains formed by dual or redundant manipulators[A].Proceedings of the 27th IEEE Conference on Decision and Control[C].Piscataway,USA:IEEE,1988.627-629.  Hayati S,Tso K,Roston G.Robot geometry calibration[A].Proceedings of the 1988 IEEE International Conference on Robotics and Automation[C].Piscataway,USA:IEEE,1988.947-951.  Veitschegger W K,Wu C.Robot calibration and compensation[J].IEEE Journal of Robotics and Automation,1988,4 (6):643-655.  蔡鹤皋,张超群,吴伟国.机器人实际几何参数识别与仿真[J].中国机械工程,1998,9(10):11-14.