A Hierarchical Traceability Method Based on Parameter Dimension Decoupling for Pose Parameters of Industrial Robots

A Hierarchical Traceability Method Based on Parameter Dimension Decoupling for Pose Parameters of Industrial Robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article A Hierarchical Traceability Method Based on Parameter Dimension Decoupling for Pose Parameters of Industrial Robots Ziyue Zhao, Siyuan Gong, Zhihao Zhao This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8474487/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Industrial robots commonly suffer from insufficient absolute positioning accuracy in intelligent manufacturing, prompting domestic and international research institutions to continuously conduct research on calibration and compensation technologies and develop a series of calibration devices. However, the current traceability method system for the end-effector pose parameters of industrial robots is not yet complete, especially the quantity value transfer chain of spatial pose parameters is at risk of interruption, resulting in the lack of traceability of calibration results. In response to this technical bottleneck, this paper, based on a systematic analysis of typical application scenarios of industrial robots, sorts out the calibration requirements of six-degree-of-freedom pose parameters and the quantity value transfer principle of calibration devices, and proposes a staged traceability method based on parameter dimension decoupling. This method decouples the six degrees of freedom parameters into independent components of three-dimensional coordinates and attitude angles, and further decomposes them into the fundamental physical quantities of single-axis distance and rotation angles. Relying on the 35m dual-frequency laser interferometer standard device and multi-tooth dividing table, a staged traceability chain is constructed to achieve the full-chain quantity value transfer from the fundamental physical quantities to the six degrees of freedom parameters. The research results have successfully established a full-chain quantity value traceability system for the pose parameters of industrial robots, solving the technical problem of decoupling traceability of parameters, and providing metrological technical support for improving the absolute positioning accuracy of industrial robots. Physical sciences/Engineering Physical sciences/Mathematics and computing Physical sciences/Physics Industrial robot Pose parameter calibration Staged decoupling Traceability Uncertainty analysis Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8474487","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":572302738,"identity":"6dedf18c-837b-4af5-8eac-82f24ab10b49","order_by":0,"name":"Ziyue Zhao","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Ziyue","middleName":"","lastName":"Zhao","suffix":""},{"id":572302739,"identity":"9558e28b-671a-4da3-88f9-88f14b127ecc","order_by":1,"name":"Siyuan 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Robots","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Industrial robot, Pose parameter calibration, Staged decoupling, Traceability, Uncertainty analysis","lastPublishedDoi":"10.21203/rs.3.rs-8474487/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8474487/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIndustrial robots commonly suffer from insufficient absolute positioning accuracy in intelligent manufacturing, prompting domestic and international research institutions to continuously conduct research on calibration and compensation technologies and develop a series of calibration devices. However, the current traceability method system for the end-effector pose parameters of industrial robots is not yet complete, especially the quantity value transfer chain of spatial pose parameters is at risk of interruption, resulting in the lack of traceability of calibration results. In response to this technical bottleneck, this paper, based on a systematic analysis of typical application scenarios of industrial robots, sorts out the calibration requirements of six-degree-of-freedom pose parameters and the quantity value transfer principle of calibration devices, and proposes a staged traceability method based on parameter dimension decoupling. This method decouples the six degrees of freedom parameters into independent components of three-dimensional coordinates and attitude angles, and further decomposes them into the fundamental physical quantities of single-axis distance and rotation angles. Relying on the 35m dual-frequency laser interferometer standard device and multi-tooth dividing table, a staged traceability chain is constructed to achieve the full-chain quantity value transfer from the fundamental physical quantities to the six degrees of freedom parameters. The research results have successfully established a full-chain quantity value traceability system for the pose parameters of industrial robots, solving the technical problem of decoupling traceability of parameters, and providing metrological technical support for improving the absolute positioning accuracy of industrial robots.\u003c/p\u003e","manuscriptTitle":"A Hierarchical Traceability Method Based on Parameter Dimension Decoupling for Pose Parameters of Industrial Robots","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2026-01-12 12:33:07","doi":"10.21203/rs.3.rs-8474487/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"00e36793-7acd-43f3-b310-6ff8fb33830d","owner":[],"postedDate":"January 12th, 2026","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[{"id":60904734,"name":"Physical sciences/Engineering"},{"id":60904735,"name":"Physical sciences/Mathematics and computing"},{"id":60904736,"name":"Physical sciences/Physics"}],"tags":[],"updatedAt":"2026-01-21T11:58:28+00:00","versionOfRecord":[],"versionCreatedAt":"2026-01-12 12:33:07","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-8474487","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8474487","identity":"rs-8474487","version":["v1"]},"buildId":"XKTyCvWXoU3ODBz1xrDgd","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}