Research on robot kinematic calibration based on hand-eye vision and distance error model

Based on the Modified Denavit-Hartenberg (MDH) kinematic model of industrial robot, the homogeneous transformation error model between the coordinates of each joint is established; The distance error model is combined with the established homogeneous transformation error model to obtain the kinematic calibration model based on distance error avoiding the transformation of the coordinate system; Then, the position of the robot's end point is measured by using t a he visual measurement method, and the calibration model is introduced to simplify the calculation and improve the accuracy of the measurement; Finally, the ABB1410 robot is used as the experimental object. Through the compensation and correction of each joint parameter, the experimental results prove that the positioning accuracy and distance accuracy of the robot can be greatly improved, and it can be applied to the experimental industrial field.