Elasto-geometrical error and gravity model calibration of an industrial robot using the same optimized configuration set

Position error is a significant limitation for industrial robots in high-precision machining and manufacturing. Efficient error measurement and compensation for robots equipped with end-effectors are difficult in industrial environments. This paper proposes a robot calibration method based on an elasto-geometrical error and gravity model. Firstly, a geometric error model was established based on the D-H method, and the gravity and compliance error models were constructed to predict the elastic deformation caused by the self-weight of the robot. Subsequently, the position error model was established by considering the attitude error of the robot flange coordinate system. A two-step robot configuration selection method was developed based on the sequential floating forward selection algorithm to optimize the robot configuration for calibrating the position error and gravity models. Then, the geometric error and compliance coefficient were identified simultaneously based on the hybrid evolution algorithm. The gravity model parameters were identified based on the same al-gorithm using the joint torque signal provided by the robot controller. Finally, calibration and compensation experiments were conducted on a KR-160 industrial robot equipped with a spindle using a laser tracker and internal robot data. The experimental results show that the robot tool center point error can be significantly improved by using the proposed method.