A New Robot Body Calibration Method of SCARA Based on Machine Vision With the development of industrial automation, SCARA robot is widely used in industrial production because of its flexible action and fast speed. There is a certain error between the theoretical model and the actual model of SCARA robot due to the inconsistent in production and assembly process, which makes the robot positioning accuracy not guaranteed. At the same time, although the traditional calibration method like using laser tracker has high calibration accuracy, but the equipment is expensive and the calibration time is too long. In this paper, a calibration method based on machine vision for the SCARA robot is proposed, which uses the position error model to ensure the positioning accuracy of the robotu0027s lefthand and righthand systems. The calibration software is easy to use and the process is almost in automation. The experimental results show that the calibrating time is shorter and the positioning accuracy can be guaranteed.

Absolute Positioning Error Modeling and Compensation of a 6DOF Industrial Robot This paper presents an absolute positioning error modeling and compensation method considering measuring errors for a 6DOF industrial robot. Firstly, the error modeling of an ABB IRB 120 robot based on the modified DenavitHartenberg (DH) method was established, it took into account not only geometric errors but also measuring errors. And then the compensation method based on the joint angles was introduced. Secondly, the simulation experiments were adopted to verify the feasibility and effectiveness of the compensation method. Finally, the error compensation experiments were conducted, including the measurement, error identification, error compensation. The experimental results show that the accuracy can have a significant improvement of 73.94% after error compensation. Hence, the error modeling and compensation method presented in this study is sensible and effective, and could be used for the error compensation to improve absolute positioning accuracy of the industrial robots.