Absolute calibration of an ABB IRB 1600 robot using a laser tracker

Robotics and Computer-Integrated Manufacturing - Tập 29 - Trang 236-245 - 2013
Albert Nubiola1, Ilian A. Bonev1
1École de technologie supérieure, 1100 Notre-Dame Street West, Montreal, QC, Canada H3C 1K3

Tài liệu tham khảo

Summers, 2005, Robot capability test and development of industrial robot positioning system for the aerospace industry, SAE Transactions, 114, 1108 Greenway, 2000, Robot accuracy, Industrial Robot, 27, 257, 10.1108/01439910010372136 Schröer K. Precision and calibration. Handbook of Industrial Robotics 1999. Mooring, 1991 Karan, 1994, Calibration and accuracy of manipulation robot models—an overview, Mechanism and Machine Theory, 29, 479, 10.1016/0094-114X(94)90130-9 Andrew Liou, 1993, Tolerance specification of robot kinematic parameters using an experimental design technique—the Taguchi method, Robotics and Computer-Integrated Manufacturing, 10, 199, 10.1016/0736-5845(93)90055-O Barker, 1983, Vector-algebra approach to extract Denavit–Hartenberg parameters of assembled robot arms, NASA Tech Paper, 2191 Ginani, 2011, Theoretical and practical aspects of robot calibration with experimental verification, Journal of the Brazilian Society of Mechanical Sciences and Engineering, 33, 15, 10.1590/S1678-58782011000100003 Ye S, Wang Y, Ren Y, Li D. robot calibration using iteration and differential kinematics. In: Proceedigns of the international symposium on instrumentation science and technology, IOP Publishing; 2006. pp. 1. Newman WS, Birkhimer CE, Horning RJ, Wilkey AT. Calibration of a Motoman P8 robot based on laser tracking, in: Proceedigns of the IEEE international conference on robotics and automation; 2000. pp. 3597–3602. Lightcap, 2008, Improved positioning accuracy of the PA10-6CE robot with geometric and flexibility calibration, IEEE Transactions on Robotics, 24, 452, 10.1109/TRO.2007.914003 Jang, 2001, Calibration of geometric and non-geometric errors of an industrial robot, Robotica, 19, 311, 10.1017/S0263574700002976 Gong, 2000, Nongeometric error identification and compensation for robotic system by inverse calibration, International Journal of Machine Tools and Manufacture, 40, 2119, 10.1016/S0890-6955(00)00023-7 Slamani, 2012, Assessment of the positioning performance of an industrial robot, Industrial Robot, 39, 57, 10.1108/01439911211192501 Craig, 1986 Zhuang, 1993, Error-model-based robot calibration using a modified CPC model, Robotics and Computer-Integrated Manufacturing, 10, 287, 10.1016/0736-5845(93)90042-I Borm, 1991, Determination of optimal measurement configurations for robot calibration based on observability measure, The International Journal of Robotics Research, 10, 51, 10.1177/027836499101000106 Sun Y, Hollerbach JM. Observability index selection for robot calibration, in: Proceedings of the IEEE international conference on robotics and automation; 2008. pp. 831–836. Zhuang H, Wang K, Roth ZS. Optimal selection of measurement configurations for robot calibration using simulated annealing, in: Proceedings of the IEEE international conference on robotics and automation; 1994. pp. 393–398. Zhuang H, Wu J, Huang W. Optimal planning of robot calibration experiments by genetic algorithms, in: Proceedings of the IEEE international conference on robotics and automation; 1996. 981-986. ISO 9283 Manipulating Industrial Robots—Performance criteria and Related Test Methods. International Standards Organization 1998. Montgomery, 2010