Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Precision object handling and manipulation require the accurate positioning of industrial robots. A common practice for performing end effector positioning is to read joint angles and use industrial robot forward kinematics (FKs). However, industrial robot FKs rely on the robot Denavit–Hartenberg (D...

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Bibliographic Details
Main Authors: Mojtaba A. Khanesar, Minrui Yan, Mohammed Isa, Samanta Piano, David T. Branson
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Sensors
Subjects:
positional accuracy
industrial robots
collaborative robots
Denavit–Hartenberg parameter calibration
forward kinematic calibration
laser tracker system
Online Access:https://www.mdpi.com/1424-8220/23/12/5368

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