131017 20240202151704.0 doi 10.2478/mms-2014-0009 sideral 85426 ART-2014-85426 eng Santolaria, Jorge Universidad de Zaragoza (orcid)0000-0001-7316-0003 Rotation error modeling and identification for Robot kinematic calibration by circle point method 2014 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. Access copy available to the general public Unrestricted info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.925 2014 INSTRUMENTS & INSTRUMENTATION 42 / 56 = 0.75 2014 Q3 T3 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Conte, Javier Universidad de Zaragoza (orcid)0000-0003-4360-080X Pueo, Marcos (orcid)0000-0002-4931-8752 Javierre, Carlos Universidad de Zaragoza (orcid)0000-0002-8008-4819 5004 545 Universidad de Zaragoza Dpto. Ingeniería Mecánica Área Ingeniería Mecánica 5002 X Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Proy. investigación HHA 5002 515 Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Área Ing. Procesos Fabricación 21, 1 (2014), 85-98 METROLOGY AND MEASUREMENT SYSTEMS METROLOGY AND MEASUREMENT SYSTEMS 0860-8229 https://www.czasopisma.pan.pl/mms/100373#tabs Texto completo de la revista 851953 http://zaguan.unizar.es/record/131017/files/texto_completo.pdf Postprint 2253675 http://zaguan.unizar.es/record/131017/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:131017 articulos driver 2024-02-02-14:53:37 ARTICLE