Improvement of robot kinematic accuracy based on BAS-PSO algorithm

In this study, a method to improve robot positioning accuracy was proposed, given that the accuracy performance of industrial robots still does not satisfy the requirements of high-end manufacturing. First, a kinematics error model based on pose differential transformation and kinematics error model based on coordinate error transformation were summarized. Second, a kinematic parameters identification method based on BAS-PSO algorithm was proposed. Finally, accuracy characteristics of different error models were compared and analyzed via experiments. The experimental results indicate that the average comprehensive position/attitude error of the TX60 robot, after identification by the proposed algorithm, decreases from (0.312 mm, 0.221°) to (0.093 8 mm, 0.044 2°). The average position error and average attitude error of the robot after direct identification based on the forward kinematics model correspond to 0.097 5 mm and 0.098 6°, respectively. The BAS-PSO algorithm proposed in the study displays good performance in terms of identification accuracy and convergence speed. Furthermore, robot kinematic parameters directly identified by the forward kinematics model exhibit better identification stability and accuracy. © 2021, Science Press. All right reserved.