Improving the accuracy of industrial robots by offline compensation of joints errors

Author

Olabi, Adel ; Damak, Mohamed ; Bearee, Richard ; Gibaru, Olivier ; Leleu, Stephane

Author_Institution

LSIS, Arts et Metiers ParisTech, Lille, France

fYear

2012

fDate

19-21 March 2012

Firstpage

492

Lastpage

497

Abstract

The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant position error in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally.

Keywords

end effectors; identification; industrial robots; machining; manipulator kinematics; position control; end effector; end milling; identification methods; industrial robots; industry like prototyping; joints errors; kinematic errors; offline compensation; offline correction method; position error; premachining; transmission systems; Force; Gears; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2012 IEEE International Conference on

Conference_Location

Athens

Print_ISBN

978-1-4673-0340-8

Type

conf

DOI

10.1109/ICIT.2012.6209986

Filename

6209986