Separation and Calibration Method of Structural Parameters of 6R Tandem Robotic Arm Based on Binocular Vision

In this paper, a kinematic separation calibration method of 6R series manipulator is proposed, and its absolute accuracy improved by binocular camera standard sphere. First, geometric error mapping model for the robotic arm was established, parameters were divided into position attitude purposes. Second, in process solving using numerical algorithms, it easy to encounter matrix ill-conditioned problems. The spectral correction iteration introduced improve calculation accuracy. Third, three balls are installed at end as markers, center coordinates measured obtain actual pose parameters. To verify effectiveness proposed method, simulation verification designed, results showed that best. Finally, IRB-1200 robot successfully calibrated method; average angle after significantly decreased. 66.9%, 86.2%.