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

Santolaria, Jorge (Universidad de Zaragoza) ; Conte, Javier (Universidad de Zaragoza) ; Pueo, Marcos ; Javierre, Carlos (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.2478/mms-2014-0009

Año: 2014

Publicado en: METROLOGY AND MEASUREMENT SYSTEMS 21, 1 (2014), 85-98
ISSN: 0860-8229

Originalmente disponible en: Texto completo de la revista

Factor impacto JCR: 0.925 (2014)

Categ. JCR: INSTRUMENTS & INSTRUMENTATION rank: 42 / 56 = 0.75 (2014) - Q3 - T3

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingeniería Mecánica (Dpto. Ingeniería Mecánica)
Área (Departamento): Proy. investigación HHA (Dpto. Ingeniería Diseño Fabri.)
Área (Departamento): Área Ing. Procesos Fabricación (Dpto. Ingeniería Diseño Fabri.)