Research on Positioning Accuracy Improvement of Industrial Robotic Arm Automatic Grabbing System

Abstract

Aiming at the insufficient positioning accuracy caused by the coupling of multiple errors in the automatic grabbing operation of industrial robotic arms, this paper takes the SR4A six-axis robotic arm visual grabbing system as the research object and carries out error traceability analysis. A multi-level accuracy optimization scheme is constructed by adopting kinematic parameter closed-loop calibration, visual
recognition distortion correction and dynamic error compensation of grabbing trajectory successively. An experimental platform is built to
complete comparative tests. The experimental results show that the comprehensive optimization strategy can effectively suppress static and
dynamic errors, greatly reduce the spatial positioning deviation of the end effector and significantly improve the continuous grabbing success
rate of workpieces. The relevant research scheme can provide technical reference for improving the accuracy of similar visually guided robotic arm grabbing systems.