To improve the overall “absolute” positioning accuracy for the industrial manipulator, it is indispensable to calibrate its kinematic parameters. In conventional studies, researchers have focused on Denavit–Hartenberg (D-H) parameters. However, until now, for industrial manipulators, the absolute accuracy is significantly poor than its repeatability. In this study, we propose a new kinematic model of a 6DOF (degrees of freedom) industrial manipulator with the angular positioning deviation “error map” of each rotary axis. The angular positioning deviation is modeled as a function of command angular positions, as well as the rotation direction to model the influence of backlash. We also propose a method to identify the angular positioning deviation of all the rotary axes by using a laser tracker.

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