Metrology & Measurement Technology, Volume. 45, Issue 2, 48(2025)
Analysis of calibration error propagation in the kinematic chain of a six⁃DOF robotic manipulator
Fig. 1. Structural diagram of the manipulator's zero position state
Fig. 4. Sampling points for the manipulator's end⁃effector position
Fig. 5. End⁃effector position distribution diagram for the manipulator in different dimensions
Fig. 6. End⁃effector position distribution diagram for the manipulator under various LM parameters
Table 1.
DH parameter calibration results View tableView in ArticleTable 1.
DH parameter calibration results 序号 1 -1.514 -0.343 -0.014 -120.240 2 -0.155 -0.343 0.004 -174.960 3 0.303 -0.343 -0.006 -63.000 -0.127 4 0.159 0.166 -0.002 -14.400 -0.002 5 0.031 0.773 3 -0.001 7 78.840 6 -0.508 0.241 1 0.640 4 1.080
Table 2.
Evaluation of the uncertainty in end⁃effector position View tableView in ArticleTable 2.
Evaluation of the uncertainty in end⁃effector position 坐标轴 末端位置的平均值 / mm 末端位置包含区间 / mm 标准不确定度 / mm 扩展不确定度 / mm 相对不确定度 / % x 748.714 (747.725, 749.685) 0.28 0.67 0.09 y 325.056 (323.494, 327.101) 0.49 1.21 0.37 z 329.829 (328.625, 331.035) 0.61 1.50 0.46
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Wensong JIANG, Yan WANG, Zai LUO, Siqi FENG, Li YANG, Penghao ZHANG. Analysis of calibration error propagation in the kinematic chain of a six⁃DOF robotic manipulator
Category: New Techniques for Precision Measurement
Received: Nov. 25, 2024
Accepted: --
Published Online: Jul. 23, 2025
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