Analysis of Geometric Parameters Error and Simulation of Six-Degree-of-Freedom Industrial Robot

In the application of industrial robots, precision has always been a key factor restricting the improvement of their performance. In this paper, the Staubli TX60 serial robot is taken as the research object to study the geometric parameter error analysis of industrial robot precision performance improvement system. The static pose error model of the robot is constructed by full differential of the error parameters of Staubli TX60, and the influence of geometric parameters on the static pose error of the robot is studied. Starting from the influence of joint errors on the robot, the degree of influence of each joint on the error is analyzed one by one, and the end effector position and attitude are obtained through simulation analysis of the robot's end effector. The results show that the second joint of the robot has the greatest influence on the end effector's pose, and the accuracy of the end effector pose error model of the industrial robot is analyzed based on the second joint. This provides reference for the improvement of the precision of the industrial robot.