Experimental Study on Accurate Calibration for Industrial Robot Via Integrated Extended Kalman and Beetle Antennae Search

Over the past decades, industrial robots have been widely used in aerospace, electronics, medical and other fields. However, the absolute positioning error of uncalibrated robot can achieve several millimeters, which cannot meet the accuracy requirements of advanced industry. To address this issue, it is necessary to calibrate the robot. Therefore, based on the DH model, a new robot calibration method combining the extended Kalman filter with quadratic interpolation beetle antennae search algorithm is proposed. Firstly, the DH model of the robot is built. Then the extended Kalman filter is adopted to preliminarily identify the robot kinematic parameters to address the issue of non-Gauss noises. Meanwhile, quadratic interpolation beetle antennae search algorithm is adopted to further calibrate the kinematic parameters. Lastly, extensive experiments are carried out on an ABB IRB 120 industrial robot. The experimental results show that the robot positioning error is significantly reduced by the proposed algorithm, which is appropriate for practical application occasions with high-precision requirements.