A novel calibration method for kinematic parameter errors of industrial robot based on Levenberg–Marquard and Beetle Antennae Search algorithm

• Published in: Measurement science & technology Vol. 34; no. 10; p. 105024
• Main Authors: Fan, Mengyao, Zhao, Huining, Wen, Jie, Yu, Liandong, Xia, Haojie
• Format: Journal Article
• Language: English
• Published: 01.10.2023
• ISSN: 0957-0233; 1361-6501
• DOI: 10.1088/1361-6501/ace6c5

In this paper, a new kinematic parameter error calibration method based on the Levenberg–Marquard and the beetle antennae search algorithm is proposed to enhance the positioning accuracy of the industrial robot. Firstly, the Modified Denavit–Hartenberg model is chosen to establish the kinematic model for the industrial robot. Secondly, the kinematic parameter errors are calibrated by Levenberg–Marquard algorithm and then obtain the kinematic parameter errors of the industrial robot. Thirdly, these kinematic parameter errors are taken as the center values for the initial individual of the beetle antennae search algorithm. The kinematic parameter errors are accurately calibrated using the beetle antennae search algorithm to obtain the best value for the kinematic parameter errors. Finally, experimental verification results demonstrate that the positioning error of the industrial robot is decreased from 0.7332 mm to 0.1392 mm by using the proposed Levenberg–Marquard and beetle antennae search algorithm. The results also demonstrate that the proposed Levenberg–Marquard and beetle antennae search algorithm calibrate the kinematic parameter errors of the industrial robot effectively and enhance the positioning accuracy of the industrial robot significantly.