Improving the Absolute Accuracy by Online Interpolation Technique of Industrial Robots

2018 3rd International Conference on Reliability Engineering

工业技术（总论）

Patel, Darpan^1 ; Lienenlüke, Lars^1 ; Storms, Simon^1 ; Brecher, Christian^1 ; Wied, Johannes^2

Department Automation and Control, Laboratory for Machine Tools and Production Engineering (WZL, RWTH Aachen), Campus-Boulevard 30, Aachen

52074, Germany^1

Technology Factory, Press Shop, Mercedes-Benz Plant Sindelfingen, Sindelfingen

71059, Germany^2

关键词: Absolute accuracy;    Calibration techniques;    Controlling parameters;    Interpolation method;    Interpolation techniques;    Model-based OPC;    Online compensation;    Robot calibration;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/575/1/012013/pdf
DOI  :  10.1088/1757-899X/575/1/012013

学科分类：工业工程学

来源: IOP

【 摘 要 】

This paper describes a novel method to improve the accuracy of industrial robot by calibration technique. Robot calibration is broadly classified into model-based and modeless techniques. In this paper, a modeless technique capable of interpolating the deviation along the Z-axis is defined which doesn't consider any kinematic model, instead adapts interpolation method to compensate errors. The robot's deviation is measured with a laser tracker and the deviation controlling parameters are calculated. The controlling parameters interpolate the deviation and with an online compensation program this deviation is compensated in real time scenario. This modeless technique is experimentally tested and it demonstrates a substantial improvement in the accuracy of the robot.