Calibration Method and Simulation of Kinematic Parameters for Light-Weight Robot Based on Flexible Error Analysis

A light-weight robot kinematic parameters calibration method based on flexible error analysis is proposed. The kinematic model is established using MDH method. On the basis of the kinematic model and the flexible error analysis, the integrated error model is established. And then, a kinematic parameter calibration method considering the flexible factors is proposed. Simulation results show that the proposed calibration method can identify accurate kinematic parameters under effect of the robot flexible deformation.