Robot autonomous error calibration method for off line programming system

Present studies done in the field of industrial robot off-line programming have not yet established an effective method to correct the mechanical error that exists between the geometrical model of a robot and the actual robot itself. For example, concerning mechanical errors to be corrected, there is no way to correct nongeometrical parameters, such as deflection, for each robot. Many methods use special instruments such as three dimensional measuring instruments to correct the errors, and they are not suitable for use in an actual production line. In this research, deflection is included in the mechanical errors to be corrected, and we´ve established a autonomous error calibration method by using the robot itself as a measuring device