Kinematical calibration of mass property measurement system

In the process of measuring mass properties, the measurement of precision is influenced by position accuracy directly. The kinematics equation of the physical construction of the equipment is established with D-H transformation matrix. The relational equation between equipment terminal position error and link D-H parameter error is present. The calibration points position in different pose are measured with laser tracker, then the real D-H parameters are obtained by solving calibration equation, which is established by position error and Jacobian matrix. In the end, the calibrated results are verified by simulation. The result shows that positioning accuracy of the equipment is improved obviously through calibrating.