Year: 2016
Type: book-chapter
Abstract: Absolute accuracy of industrial robots as well as good repeatability is very important technical characteristics in such tasks like machining operations and using the robot as a measuring system.The goal of work is to propose a geometrical approach for axis orientation parameters calibration of industrial robot based on laser tracker measurement.For the process of parameters identification using CPA-analysis, that allows determinate positions of robot joint axes.This article demonstrate procedures that permit change first axes orientation of 6 DOF industrial robot kinematic for compensation of the non-coaxiality and non-perpendicularity of some axis solving direct kinematic.Our approach is based on conjoint rotation.Obtained functions approximated by polynoms.
Institution: Moscow State Technological University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W2481330928