کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413603 680631 2015 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments
ترجمه فارسی عنوان
کالیبراسیون هندسی از روبات های صنعتی با استفاده از اندازه گیری جزئی افزایش پوسیدگی و طراحی آزمایشات
کلمات کلیدی
روبات های صنعتی سریال، کالیبراسیون هندسی اندازه گیری جزئی جزئی طراحی آزمایش، اندازه گیری عملکرد صنعت
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی


• Geometric calibration of industrial robots
• Reduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments
• A new industry-oriented performance measure for optimal measurement configuration selection
• Experimental study of heavy industrial robot KUKA KR-270

The paper deals with geometric calibration of industrial robots and focuses on reduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and irreducible geometric model for serial manipulator, which takes into account different sources of errors (link lengths, joint offsets, etc). In contrast to other works, a new industry-oriented performance measure is proposed for optimal measurement configuration selection that improves the existing techniques via using the direct measurement data only. This new approach is aimed at finding the calibration configurations that ensure the best robot positioning accuracy after geometric error compensation. Experimental study of heavy industrial robot KUKA KR-270 illustrates the benefits of the developed pose strategy technique and the corresponding accuracy improvement.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 35, October 2015, Pages 151–168
نویسندگان
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