A Method to Partition Accuracy in Workspace for Robot Arms

Nguyen, Huu-Thang; Long, Phạm Thành; Jeng, Jin-Tsong

doi:10.1007/978-3-030-64719-3_5

Cited by 2 publications

(1 citation statement)

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“…A mapping for accuracy evaluation of an industrial robot trajectory within appropriate regions of the robot workspace was developed in [24], disregarding the relationship between accuracy and geometric errors. Accuracy evaluation using sub-workspace analysis was already proposed [25], aiming to evaluate and determine the suitable region for a given task in the working envelope of an industrial robot, where positioning errors were evaluated in workspace slices. However, the error dispersion in the robot workspace was related to a single error source, in that case, the parameters of a commercial camera.…”

Section: Introductionmentioning

confidence: 99%

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

Toquica

Motta

2021

Preprint

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This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

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Section: Introductionmentioning

confidence: 99%