Simulation and Experimentation for Calibration of General 7R Serial Robots

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.