Increase of Industrial Robot Accuracy Based on Kinematic Errors Compensation

Kód výsledku v IS VaVaI

RIV/68407700:21220/22:00361901 - isvavai.cz

Výsledek na webu

https://doi.org/10.17973/MMSJ.2022_12_2022149

DOI - Digital Object Identifier

10.17973/MMSJ.2022_12_2022149

Jazyk výsledku

angličtina

Název v původním jazyce

Increase of Industrial Robot Accuracy Based on Kinematic Errors Compensation

Popis výsledku v původním jazyce

Industrial robots are used in many technical applications from simple pick-and-place tasks to complex machining, welding and assembly applications. The repeatability of the robots is usually high. However, the accuracy is much lower, and it decreases with the robot size selected. Robot calibration represents a possible way to increase accuracy, and two main approaches have been distinguished. Kinematic calibration deals with geometric errors only, and the robot is considered as a rigid body. By contrast, non-kinematic calibration takes into account further sources of errors. This paper deals with kinematic calibration, where an artifact is attached to a robot flange and its position is measured using a laser tracker. The novelty of the method is based on the consecutive rotation of only a single joint, where the artifact trajectory is circular. Real robot geometry is calculated based on identified circles. Numerical simulations seem promising, as well as verification with Staubli TX2-90, where the accuracy was increased more than 43%.

Název v anglickém jazyce

Increase of Industrial Robot Accuracy Based on Kinematic Errors Compensation

Popis výsledku anglicky

Industrial robots are used in many technical applications from simple pick-and-place tasks to complex machining, welding and assembly applications. The repeatability of the robots is usually high. However, the accuracy is much lower, and it decreases with the robot size selected. Robot calibration represents a possible way to increase accuracy, and two main approaches have been distinguished. Kinematic calibration deals with geometric errors only, and the robot is considered as a rigid body. By contrast, non-kinematic calibration takes into account further sources of errors. This paper deals with kinematic calibration, where an artifact is attached to a robot flange and its position is measured using a laser tracker. The novelty of the method is based on the consecutive rotation of only a single joint, where the artifact trajectory is circular. Real robot geometry is calculated based on identified circles. Numerical simulations seem promising, as well as verification with Staubli TX2-90, where the accuracy was increased more than 43%.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

EF16_026/0008404: Strojírenská výrobní technika a přesné strojírenství

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

MM Science Journal

ISSN

1803-1269

e-ISSN

1805-0476

Svazek periodika

2022

Číslo periodika v rámci svazku

December

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

7

Strana od-do

6169-6175

Kód UT WoS článku

000897787600001

EID výsledku v databázi Scopus

2-s2.0-85144027569