Calibration analysis of a direct drive robot

Author

Kozakiewicz, Christopher ; Ogiso, Toshio ; Miyake, Norihisa

Author_Institution

Mech. Eng. Res. Lab., Hitachi Ltd., Ibaraki, Japan

fYear

1990

fDate

3-6 Jul 1990

Firstpage

213

Abstract

A software-based calibration method is developed to decrease the positioning errors of a SCARA assembly robot caused by static deflection of the robot arm under force and moment load. A robot stiffness model is constructed and used to calculate differential joint angle corrections which are then applied to the inverse kinematic solution of the ideal robot model to compensate for the static deflection errors. Least squares polynomial approximation and a neural network are used for storing the joint correction values and for interpolation. A computer simulation of the calibration method demonstrated a decrease in the average positioning error from 0.43 mm to 0.03 mm and in the range of error from ±0.35 mm to ±0.10 mm in the calibrated area

Keywords

calibration; control system analysis computing; industrial robots; kinematics; least squares approximations; polynomials; SCARA; assembly robot; differential joint angle corrections; direct drive robot; force load; interpolation; inverse kinematic; joint correction values; least squares polynomial approximations; moment load; neural network; positioning errors; robot stiffness model; software-based calibration; static deflection; Calibration; Computer errors; Error correction; Interpolation; Kinematics; Least squares approximation; Neural networks; Polynomials; Robotic assembly; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262389

Filename

262389