Calibration Method of Industrial Robot Kinematic Parameters Based on Improved SSA Algorithm

The requirements of high-end manufacturing cannot be fulfilled by industrial robot absolute positioning accuracy. A study of algorithms for improving absolute positioning accuracy in industrial robots. An improved sparrow search algorithm (ISSA) incorporating a chaotic mapping initialization population, a butterfly global search strategy, a triangle wandering strategy, and a t-distribution perturbation is proposed to identify the kinematic parameters of industrial robots. First, a robot kinematics model is established based on modified Denavit-Hartenberg (MD-H) parameters. Secondly, verify the effectiveness of the ISSA algorithm. Finally, the kinematic parameters of four T6A-19 industrial robots were determined and adjusted for validation using the ISSA algorithm. The results of the experiment demonstrate an 85.39% improvement in the accuracy of the mean absolute positional error and an 83.36% improvement in the root mean square accuracy. These results support the effectiveness and practicality of the method used.