A Method for Calibration and Compensation of Kinematic Parameters for Recycling Robot in Nuclear Power Plant

The robot in this paper is used to recycle detector components in nuclear power plant. Due to the large volume and weight of the robot, factors such as deformation of key components, machining, assembling and so on will affect its positioning accuracy. The positioning device of the recycling robot will be described in detail, which can realize the positioning of any point in the operating space of the detector components. In order to improve the accuracy of the positioning device and ensure the reliability of the operation tool, the kinematics model of the positioning system which composed of the positioning device and the operation tool is performed, and the first-order linear error model at the measurement point is derived using the full differential method. The Leica laser tracker was used to perform the kinematics model parameter calibration experiment, and the least square method was used to optimize and update the DH parameters in the model. The experimental results show that the optimized kinematics model has its maximum positioning error and average positioning error reduced, respectively 98.96% and 96.16%.