Title :
A closed-loop neuro-parametric methodology for the calibration of a 5 DOF measuring robot
Author :
Monica, Tihoni ; Giovanni, Legnani ; PierLuigi, Magnani ; Diego, Tosi
Author_Institution :
Dipt. di Meccanica Applicata, Universita degli Studi di Brescia, Italy
Abstract :
The paper deals with the calibration of industrial robots, a very important issue in robotics. A methodology to improve accuracy obtained by classical parametric methodologies is proposed. The method is based on the application of a neural network together with a classical parametric model of the robot kinematic. Due to this combination of methodologies the approach could be defined as "hybrid neuro-parametric method". Experimental results prove an improvement in the robot accuracy.
Keywords :
calibration; closed loop systems; industrial robots; neural nets; robot kinematics; 5 DOF measuring robot; closed-loop neuro-parametric methodology; industrial robots calibration; robot accuracy; robot kinematic; robotics; Calibration; Footwear; Kinematics; Manufacturing industries; Neural networks; Orbital robotics; Parametric statistics; Position measurement; Service robots; Shape measurement;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222216
