DocumentCode
1784512
Title
Experimental study on geometric and elastostatic calibration of industrial robot for milling application
Author
Yier Wu ; Klimchik, A. ; Caro, Stephane ; Boutolleau, Christelle ; Furet, Benoit ; Pashkevich, A.
Author_Institution
Ecole des Mines de Nantes, Nantes, France
fYear
2014
fDate
8-11 July 2014
Firstpage
1689
Lastpage
1696
Abstract
The paper is devoted to geometric and elastostatic calibration of industrial robot for milling application. Particular attention is paid to the analysis of the experimental results and enhancement identification routines. In contrast to other works, the identification results have been validated using separate set of measurements that were not used in calibration. The obtained geometric and elastostatic models essentially improve robot positioning accuracy in milling applications.
Keywords
calibration; elasticity; industrial robots; milling; position control; elastostatic calibration; geometric calibration; identification routines; industrial robot; milling; robot positioning improvement; Accuracy; Calibration; Gravity; Manipulators; Robot kinematics; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location
Besacon
Type
conf
DOI
10.1109/AIM.2014.6878327
Filename
6878327
Link To Document