工業型機械手臂在現今工業界已成為工廠自動化不可缺少的設備，代替大量的人力執行高危險環境與重複性的作業。位置精度是機械手臂重要的性能指標之一，然而，機械手臂在製造或組裝過程中，常會因機械加工或人為組裝時的誤差，使機械手臂的幾何外型常常與原先設計有所差異，導致位置精度不佳。本研究提出一個低成本且時間快速的方法，利用機械手臂運動學模型，估算機械手臂幾何之連桿參數。在實驗中，以光學編碼器與電子數位千分表分別量測關節位置與終端效果器的位置變化量，藉由本研究提出之方法對工業型六軸機械手臂進行連桿參數校正，更新機械手臂之幾何參數。最後利用位置誤差實驗，驗證此校正方法的正確性。

Industrial robot arms are the indispensable equipment that have been widely used in automatic situation. They substitute high amount of human force to execute high dangerous and repetitive work. Position accuracy is one of the important performance of robot arms. However, when a robot arm is under manufacturing or assembly process, there are several reasons that would cause imprecise manufacturing, set up errors, gear backlash, gear transmission error, transmission errors and compliance, etc. In this study, we propose a low cost and time saving method by using robot arm kinematics model to estimate the geometric link parameters of the robot arm. In the experiments, encoders and micrometer are used to measure the joint positions and the position displacements of the robot arm respectively. By using the links parameters calibration method proposed in this study, we calibrate the industrial six-axis robot arm’s links parameters and update the geometric parameters of the robot arm. Finally, position error experiments are conducted to verify the accuracy of this calibration method.

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