Rotation error modeling and identification for Robot kinematic calibration by circle point method

• Autorzy: Santolaria J. , Conte J. , Pueo M. , Javierre C.

Identyfikatory

DOI

10.2478/mms-2014-0009

• Języki publikacji: EN

Abstrakty

EN

Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots’ geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That’s because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot’s movement from the identification of its real kinematical parameters for the later study of every articulation’s rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot’s movement, improving its precision with a physical understanding of the errors.

Słowa kluczowe

EN

circle point; robot calibration; laser tracker; mathematical optimization

• Wydawca: Komitet Metrologii i Aparatury Naukowej PAN
• Czasopismo: Metrology and Measurement Systems
• Rocznik: 2014
• Tom: Vol. 21, nr 1
• Strony: 85--98
• Opis fizyczny: Bibliogr. 12 poz., rys., tab., wzory

Twórcy

autor

Santolaria J.

• Department of Design and Manufacturing Engineering, University of Zaragoza, Zaragoza, Spain

autor

Conte J.

• Department of Design and Manufacturing Engineering, University of Zaragoza, Zaragoza, Spain

autor

Pueo M.

• Centro Universitario de la Defensa, Zaragoza, Spain

autor

Javierre C.

• Department of Mechanical Engineering, University of Zaragoza, Zaragoza, Spain

Bibliografia

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