Petrič T, Žlajpah L. Kinematic model calibration of a collaborative redundant robot using a closed kinematic chain.
Sci Rep 2023;
13:17804. [PMID:
37853070 PMCID:
PMC10584847 DOI:
10.1038/s41598-023-45156-6]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/07/2023] [Accepted: 10/17/2023] [Indexed: 10/20/2023] Open
Abstract
In this paper, we propose a novel approach for the kinematic calibration of collaborative redundat robots, focusing on improving their precision using a cost-effective and efficient method. We exploit the redundancy of the closed-loop kinematic chain by utilizing a spherical joint, enabling precise definition of the robot end-effector position while maintaining free joint motion in the null space. Leveraging the availability of joint torque sensors in most collaborative robots, we employ a kinesthetic approach to obtain constrained joint motion for calibration. An optimization approach is utilized to determine the optimal kinematic parameters based on measured joint positions and a constrained end-effector position defined by the spherical joint. The effectiveness of the proposed method is demonstrated and validated on the Franka Emika Panda robot, a 7-DoF robot. Results indicate a significant enhancement in absolute accuracy, with comparable performance to more expensive sensor systems such as optical measurement systems. Our approach offers a practical and cost-effective solution for improving the precision of collaborative robots.
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