CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS

A new calibration method for the D-H link parameters used in a theoretical model of robot mechanisms is studied in this paper.And based on the method, a corresponding computer software is then devel-oped. The application of this method and the software are useful and especially important for those purposes of enhancing robot accuracies and of carrying out a scheme or synthetical error compensation of robots. In addition, an example of the calibration of the link parameters for PUMA 562 robot is supplied tothe paper, and some satisfactory results are obtained from the computer output.