Improving the Accuracy of Industrial Robots by Offline Compensation of Joints Errors

被引：0
|
作者：
Olabi, Adel [1 ]
Damak, Mohamed [2 ]
Bearee, Richard [1 ]
Gibaru, Olivier [1 ]
Leleu, Stephane [1 ]
机构：
[1] CNRS, LSIS, Arts & Metiers ParisTech, 8 Blvd 14, F-59000 Lille, France
[2] GEOMNIA, Lille, France
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) | 2012年
关键词：
IDENTIFICATION; SYSTEM;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant position error in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally.
引用
收藏
页码：492 / 497
页数：6
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