A generalized calibration method for robots in manufacturing applications

Author

Zak, G. ; Fenton, R.G. ; Benhabib, B.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

fYear

1988

fDate

23-25 May 1988

Firstpage

266

Lastpage

272

Abstract

A generalized method of robot calibration is presented. Using this method, the true values of the robot´s joint and link parameters can be estimated, which would considerably improve the accuracy of current industrial robots and remove one of the major obstacles to the implementation of offline programming. This calibration method, unlike some previous techniques, is general in nature and application to any type of robot. The algorithm can be used to estimate the optimal number of points which should be used in calibrating a specific robot, and the locations of these point. It can also be used to determine the minimum required precision of measurements that have to be carried out at these locations

Keywords

industrial robots; generalized calibration method; industrial robots; joint; link parameters; manufacturing applications; offline programming; robot calibration; robots; Calibration; Chaos; Error correction; Laboratories; Length measurement; Manufacturing; Mechanical engineering; Orbital robotics; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Integrated Manufacturing, 1988., International Conference on

Conference_Location

Troy, NY

Print_ISBN

0-8186-0888-9

Type

conf

DOI

10.1109/CIM.1988.5418

Filename

5418