A geometrical approach for online error compensation of industrial manipulators

Author

Mustafa, Shabbir Kurbanhusen ; Tao, Pey Yuen ; Yang, Guilin ; Chen, I-Ming

Author_Institution

Singapore Inst. of Manuf. Technol., Mechatron. Group, Agency for Sci., Technol. & Res., Singapore, Singapore

fYear

2010

fDate

6-9 July 2010

Firstpage

738

Lastpage

743

Abstract

In this paper, a comprehensive online error compensation approach using offline calibration results is proposed for industrial manipulators (with closed control architecture), in order to improve its accuracy. The contents in this paper include a calibration algorithm based on the product-of-exponential formula, an online error compensation procedure for implementing the calibration results on industrial manipulators, and an experimental study that is conducted on a 6-DOF industrial manipulator from ABB (Model: IRB-4400) with a laser tracker system from Leica (Model: AT901-MR) and its Tracker-Machine control sensor. After implementing the proposed online error compensation approach, the accuracy of the ABB industrial manipulator improved to 0.3 mm, thus verifying the effectiveness of the proposed error compensation approach.

Keywords

calibration; closed loop systems; error compensation; industrial manipulators; optical tracking; 6-DOF industrial manipulator; ABB industrial manipulator; calibration algorithm; closed control architecture; comprehensive online error compensation; geometrical approach; industrial manipulators; laser tracker system; offline calibration; product-of-exponential formula; tracker-machine control sensor; Calibration; Joints; Kinematics; Robot kinematics; Robot sensing systems; Service robots; Calibration; Industrial Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Conference_Location

Montreal, ON

Print_ISBN

978-1-4244-8031-9

Type

conf

DOI

10.1109/AIM.2010.5695784

Filename

5695784