000131017 001__ 131017
000131017 005__ 20240202151704.0
000131017 0247_ $$2doi$$a10.2478/mms-2014-0009
000131017 0248_ $$2sideral$$a85426
000131017 037__ $$aART-2014-85426
000131017 041__ $$aeng
000131017 100__ $$0(orcid)0000-0001-7316-0003$$aSantolaria, Jorge$$uUniversidad de Zaragoza
000131017 245__ $$aRotation error modeling and identification for Robot kinematic calibration by circle point method
000131017 260__ $$c2014
000131017 5060_ $$aAccess copy available to the general public$$fUnrestricted
000131017 5203_ $$aScrew 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.
000131017 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000131017 590__ $$a0.925$$b2014
000131017 591__ $$aINSTRUMENTS & INSTRUMENTATION$$b42 / 56 = 0.75$$c2014$$dQ3$$eT3
000131017 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000131017 700__ $$0(orcid)0000-0003-4360-080X$$aConte, Javier$$uUniversidad de Zaragoza
000131017 700__ $$0(orcid)0000-0002-4931-8752$$aPueo, Marcos
000131017 700__ $$0(orcid)0000-0002-8008-4819$$aJavierre, Carlos$$uUniversidad de Zaragoza
000131017 7102_ $$15004$$2545$$aUniversidad de Zaragoza$$bDpto. Ingeniería Mecánica$$cÁrea Ingeniería Mecánica
000131017 7102_ $$15002$$2X$$aUniversidad de Zaragoza$$bDpto. Ingeniería Diseño Fabri.$$cProy. investigación HHA
000131017 7102_ $$15002$$2515$$aUniversidad de Zaragoza$$bDpto. Ingeniería Diseño Fabri.$$cÁrea Ing. Procesos Fabricación
000131017 773__ $$g21, 1 (2014), 85-98$$pMETROLOGY AND MEASUREMENT SYSTEMS$$tMETROLOGY AND MEASUREMENT SYSTEMS$$x0860-8229
000131017 85641 $$uhttps://www.czasopisma.pan.pl/mms/100373#tabs$$zTexto completo de la revista
000131017 8564_ $$s851953$$uhttps://zaguan.unizar.es/record/131017/files/texto_completo.pdf$$yPostprint
000131017 8564_ $$s2253675$$uhttps://zaguan.unizar.es/record/131017/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000131017 909CO $$ooai:zaguan.unizar.es:131017$$particulos$$pdriver
000131017 951__ $$a2024-02-02-14:53:37
000131017 980__ $$aARTICLE