کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10419464 | 904175 | 2014 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Absolute robot calibration with a single telescoping ballbar
ترجمه فارسی عنوان
کالیبراسیون مطلق ربات با یک توپ تلسکوپی
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
چکیده انگلیسی
A novel 6D measurement system was recently proposed, comprising a single commercially available telescoping ballbar and two custom-made fixtures. One fixture is attached to the robot base and the other to the robot end-effector, and each having three magnetic cups. In each of 72 poses of the tool fixture, with respect to the base fixture, it is possible to measure six distances with the ballbar between the magnetic cups on the tool fixture and the magnetic cups on the base fixture, and thus calculate the pose with high accuracy. This paper is the first to present the successful use of this measurement system for absolute robot calibration. The robot calibrated is a Fanuc LR Mate 200iC six-axis industrial robot and the telescoping bar used is the QC20-W by Renishaw. The absolute position accuracy of the robot after calibration is validated with a Faro laser tracker in almost 10,000 robot configurations. Considering the validation data in only the front/up configurations, the mean absolute positioning error is improved from 0.873Â mm to 0.479Â mm. To allow a comparison, the robot is also calibrated using the laser tracker and the robot accuracy validated in the same 10,000 robot configurations.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Precision Engineering - Volume 38, Issue 3, July 2014, Pages 472-480
Journal: Precision Engineering - Volume 38, Issue 3, July 2014, Pages 472-480
نویسندگان
Albert Nubiola, Ilian A. Bonev,