A method of robot parameters rapid error compensation for online flexible measurement system

Changjie Liu; Zhongkai Zhang; Yiwei Chen

doi:10.1117/12.887628

26 May 2011 A method of robot parameters rapid error compensation for online flexible measurement system

Changjie Liu, Zhongkai Zhang, Yiwei Chen

Proceedings Volume 7997, Fourth International Seminar on Modern Cutting and Measurement Engineering; 79971F (2011) https://doi.org/10.1117/12.887628
Event: Fourth International Seminar on Modern Cutting and Measuring Engineering, 2010, Beijing, China

Abstract

When the industrial robot is running continuously on-field, the parameters of robot will change because of the effect of robot's self-heat and the changes of the external environment. The repeating position-setting accuracy will reduce, it has great effect on the accuracy of robot flexible coordinate measuring system, which uses industrial robot as the means of delivery, thus the compensation should be adopted. This article shows a rapid robot parameters calibration technology that is based on the constant robot space distance. Through the measurement of the multiple and the same space distance in measurement period, and according to the robot motion model, it solves the changeable parameters of the robot quickly and reverse, and solves the measurement error caused by the robot's parameter variation, and then compensates the final measuring results. Experiments proved that this solution can improve system's accuracy from 0.5mm to 0.18mm above.

Citation Download Citation

Changjie Liu, Zhongkai Zhang, and Yiwei Chen "A method of robot parameters rapid error compensation for online flexible measurement system", Proc. SPIE 7997, Fourth International Seminar on Modern Cutting and Measurement Engineering, 79971F (26 May 2011); https://doi.org/10.1117/12.887628

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