Research on Robot Flexible Joint Modeling and Zero Calibration
MEI Hao
LIU Yong
Abstract：The existing robots calibration technique has a certain maturity,but there is still no complete calibration model in treatment of flexible joint problems,this ultimately affects the zero calibration result.Therefore,this paper focuses on the research of robot flexible joint and analysis of deformation of flexible joint,establishes the corresponding error model,improves the original zero calibration model,tests the original model and the improved model,and analyzes the calibration results.The simulation results show that,under the influence of comprehensive error including joint flexibility error,the calibration error model based on flexible joint model has better calibration results.Based on the experimental platform of industrial robot IRB120,the corresponding verifica-tion is carried out.
Keywords：flexible jointerror modelmodel integrityzero calibrationaccuracy
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 633-638 )