- Tytuł:
- Rotation error modeling and identification for Robot kinematic calibration by circle point method
- Autorzy:
-
Santolaria, J.
Conte, J.
Pueo, M.
Javierre, C. - Powiązania:
- https://bibliotekanauki.pl/articles/221417.pdf
- Data publikacji:
- 2014
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
circle point
robot calibration
laser tracker
mathematical optimization - Opis:
- Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots’ geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That’s because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot’s movement from the identification of its real kinematical parameters for the later study of every articulation’s rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot’s movement, improving its precision with a physical understanding of the errors.
- Źródło:
-
Metrology and Measurement Systems; 2014, 21, 1; 85-98
0860-8229 - Pojawia się w:
- Metrology and Measurement Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł