Positioning accuracy improvement of industrial robots based on modified differential evolution algorithm

For improving the positioning accuracy of the robot, the kinematic parameters need to be calibrated. A modified differential evolution algorithm is proposed to identify the kinematic parameters in this paper. The control parameters of differential evolution algorithm are adjusted adaptively for a better convergence. Herein, the kinematic model is established based on the product of exponentials formula. To verify the efficiency of the proposed algorithm, experiments are performed using a six-degree-of-freedom robot and laser tracker. The maximum positioning error is reduced from 6.094mm to 0.4935mm and the average positioning error is reduced from 3.076mm to 0.08911mm by using the proposed algorithm.