Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
9638287 | Fusion Engineering and Design | 2005 | 4 Pages |
Abstract
The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1Â m, in some configurations, to a final accuracy of a few centimetres.
Related Topics
Physical Sciences and Engineering
Energy
Energy Engineering and Power Technology
Authors
D. Arhur, Y. Perrot, C. Bidard, J.P. Friconneau, J.D. Palmer, L. Semeraro,