  In pace with the electronic technology development and the production
technology improvement, industrial robot Give Scope to the Advantage in social
services and industrial production. However, due to long-term mechanical wear
and structural deformation, the absolute positioning accuracy is low, which
greatly hinders the development of manufacturing industry. Calibrating the
kinematic parameters of the robot is an effective way to address it. However,
the main measuring equipment such as laser trackers and coordinate measuring
machines are expensive and need special personnel to operate. Additionally, in
the measurement process, due to the influence of many environmental factors,
measurement noises are generated, which will affect the calibration accuracy of
the robot. Basing on these, we have done the following work: a) developing a
robot calibration method based on plane constraint to simplify measurement
steps; b) employing Square-root Culture Kalman Filter (SCKF) algorithm for
reducing the influence of measurement noises; c) proposing a novel algorithm
for identifying kinematic parameters based on SCKF algorithm and Levenberg
Marquardt (LM) algorithm to achieve the high calibration accuracy; d) adopting
the dial indicator as the measuring equipment for slashing costs. The enough
experiments verify the effectiveness of the proposed calibration algorithm and
experimental platform.
