Guangxiang Qiu
ABSTRACT
Taking the KUKA Nano robot as the research object, the DH method is used to establish the coordinate system of the robot connecting rod, and the DH parameters of each joint are obtained. The error influencing factors were analyzed, and the robot error model with geometric factors as the main influencing factors was established; the single joint kinematic parameter identification method was expounded, and the robot kinematic parameter identification experiment was carried out using the axis method, and the results of the robot joints were obtained. The actual DH value provides a theoretical basis for the follow-up robot accuracy analysis and error compensation.
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Index Terms
- Robot kinematics modeling and parameter identification based on DH parameters
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