Scholarlink

<p>To ensure the accuracy of industrial robots, precise calibration of the tool center point (TCP) is essential. However, no truly optimal TCP calibration method has yet been established, which critically compromises the accuracy of robotic systems. In this paper, we propose an optimal TCP calibration method based on an expanded position dilution of precision (EPDOP) and present an adaptive three-dimensional probe that implements optimized calibration. Unlike conventional position dilution of precision (PDOP), which is defined by reference to the standard uncertainty of the length-measuring device, the EPDOP is established using the inherent positioning error of the robot. Minimizing the EPDOP defines four points on the robot that are optimal in terms of TCP calibration. A three-dimensional probe with three displacement sensors and a supporting nest was adaptively developed to ensure repeatable operator-independent calibration. The method was applied to an industrial robot and its performance in the circular tests mandated by ISO 230-4 was experimentally validated. The peak-to-valley radial deviation decreased by up to 23&#xa0;μm, demonstrating the effectiveness and practical applicability of the new approach. <b>• Keywords</b>: Circular test; EPDOP; Industrial robot; TCP calibration; Three-dimensional probe.&#xa0;</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Expanded Position Dilution of Precision-based Optimal Calibration of the Industrial Robot Tool Center Point and Adaptive Three-dimensional Probe Development

  • 期刊论文

  • 发表日期：

    2026年3月20日

查看全文
  • Seung-Han Yang,
  • Hoon-Hee Lee,
  • Kwang-Il Lee

摘要

To ensure the accuracy of industrial robots, precise calibration of the tool center point (TCP) is essential. However, no truly optimal TCP calibration method has yet been established, which critically compromises the accuracy of robotic systems. In this paper, we propose an optimal TCP calibration method based on an expanded position dilution of precision (EPDOP) and present an adaptive three-dimensional probe that implements optimized calibration. Unlike conventional position dilution of precision (PDOP), which is defined by reference to the standard uncertainty of the length-measuring device, the EPDOP is established using the inherent positioning error of the robot. Minimizing the EPDOP defines four points on the robot that are optimal in terms of TCP calibration. A three-dimensional probe with three displacement sensors and a supporting nest was adaptively developed to ensure repeatable operator-independent calibration. The method was applied to an industrial robot and its performance in the circular tests mandated by ISO 230-4 was experimentally validated. The peak-to-valley radial deviation decreased by up to 23 μm, demonstrating the effectiveness and practical applicability of the new approach. • Keywords: Circular test; EPDOP; Industrial robot; TCP calibration; Three-dimensional probe.