A novel kinematic parameters calibration method for industrial robot based on Levenberg-Marquardt and Differential Evolution hybrid algorithm

Guoyue Luo, Lai Zou, Ziling Wang, Chong Lv, Jing Ou, Yun Huang

Abstract: Highlights•A new method is proposed to calibrate the kinematic parameters of robot, solving the high order nonlinear problem of Levenberg-Marquardt algorithm and the issue of slow convergence speed of Differential Evolution algorithm.•This method is validated on a FANUC M710ic/50 robot.•In consideration of the effect of measurement noise, such as measurement error of laser tracker, the coordinate system transformation error between the robot and laser tracker, the absolute positioning accuracy of robot has increased by almost 73.6% after calibration with hybrid algorithm.•A kind of joint space error compensation method is proposed to compensate for robot kinematic parameter deviations, overcoming the problem of authority limitation of modifying the D-H parameters of robot control system.