DocumentCode
1069884
Title
Improved Positioning Accuracy of the PA10-6CE Robot with Geometric and Flexibility Calibration
Author
Lightcap, Chris ; Hamner, Samuel ; Schmitz, Tony ; Banks, Scott
Author_Institution
Univ. of Florida, Gainesville
Volume
24
Issue
2
fYear
2008
fDate
4/1/2008 12:00:00 AM
Firstpage
452
Lastpage
456
Abstract
Accurate determination of robot geometric and flexibility parameters permits significant reduction of systematic errors and improved end-effector positioning accuracy. We apply a 30-parameter flexible geometric model to the Mitsubishi PA10-6CE robot and reduce mean/peak positional errors from 1.80/2.45 mm to 0.33/0.71 mm while loaded at 44 N.
Keywords
calibration; end effectors; position control; PA10-6CE robot; end-effector; flexibility calibration; geometric calibration; positioning accuracy; Geometric calibration; Mitsubishi PA10-6CE; joint flexibility; parameter identification;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2007.914003
Filename
4451346
Link To Document