ROTATION ERROR MODELING AND IDENTIFICATION FOR ROBOT KINEMATIC CALIBRATION BY CIRCLE POINT METHOD

Metrology and Measurement Systems

Carlos Javierre¹  Javier Conte¹  Marcos Pueo¹  Jorge Santolaria¹ 

关键词: Circle point;    Robot calibration;    Laser tracker;    Mathematical optimization;   

DOI  :  10.2478/mms-2014-0009

来源: Versita

【 摘 要 】

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.

【 授权许可】

Unknown