A Hierarchical Traceability Method Based on Parameter Dimension Decoupling for Pose Parameters of Industrial Robots

Industrial robots commonly suffer from insufficient absolute positioning accuracy in intelligent manufacturing, prompting domestic and international research institutions to continuously conduct research on calibration and compensation technologies and develop a series of calibration devices. However, the current traceability method system for the end-effector pose parameters of industrial robots is not yet complete, especially the quantity value transfer chain of spatial pose parameters is at risk of interruption, resulting in the lack of traceability of calibration results. In response to this technical bottleneck, this paper, based on a systematic analysis of typical application scenarios of industrial robots, sorts out the calibration requirements of six-degree-of-freedom pose parameters and the quantity value transfer principle of calibration devices, and proposes a staged traceability method based on parameter dimension decoupling. This method decouples the six degrees of freedom parameters into independent components of three-dimensional coordinates and attitude angles, and further decomposes them into the fundamental physical quantities of single-axis distance and rotation angles. Relying on the 35m dual-frequency laser interferometer standard device and multi-tooth dividing table, a staged traceability chain is constructed to achieve the full-chain quantity value transfer from the fundamental physical quantities to the six degrees of freedom parameters. The research results have successfully established a full-chain quantity value traceability system for the pose parameters of industrial robots, solving the technical problem of decoupling traceability of parameters, and providing metrological technical support for improving the absolute positioning accuracy of industrial robots.