Application of screw axis identification method for serial robot calibration in the service robot

A screw axis identification (SAI) method for serial robot calibration is applied in the service robot. The proposed method is newly introduced by Wang and can be operated easily. The self-designed service robot is a head-eye robot consisting of a binocular camera fixed on the head and two arms with four-degree of freedom. The binocular camera is used to calibrate the parameters of the arms joints. Then the kinematic model of the robot can be built by these parameters. Finally, by comparing the nominal angle values of the joints with the calculated values, a group of error values within 1eare achieved, which can meet the requirement of the further research of the robot about grabbing objects. Therefore, the SAI method which can automatically calibrate parameters has great efficiency and can be calibrated easily, which makes an identified contribution to the spreading of the robot application.