Laser calibration and kinematical analysis and synthesis of robots. Selected problems

Author

Frøczek, J. ; Busiko, Z. ; Morecki, A.

Author_Institution

Inst. of Aeronaut. & Appl. Mech., Warsaw Univ. of Technol., Poland

fYear

2001

fDate

2001

Firstpage

19

Lastpage

26

Abstract

The paper presents kinematic analysis and synthesis of a multilink robot using a general multibody approach. The multibody analysis is based on the absolute coordinate formulation. For the numerical calculation the general purpose ADAMS^TM computer package was used. Separately the problem of calibration of a serial-parallel robot is discussed. For the calibration the ROBOTEST laser system was adapted which is primarily intended for measurements of other robot accuracy characteristics. The original calibration algorithm enables calibration using this system

Keywords

calibration; light interferometry; manipulator kinematics; measurement by laser beam; ADAMS computer package; ROBOTEST laser system; absolute coordinate formulation; kinematic analysis; kinematic synthesis; laser calibration; multibody analysis; multilink robot; robot accuracy characteristics; serial-parallel robot; Aerodynamics; Biomechanics; Calibration; Equations; Manipulators; Packaging; Robot kinematics; Service robots; Trajectory; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973426

Filename

973426