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Robot accuracy evaluation using a ball-bar link system

Published online by Cambridge University Press:  15 March 2011

Yeon Taek Oh
Yeon Taek Oh*
Affiliation:
Mechatronics & Manufacturing Technology Center, Samsung Electronics Co., Ltd., Suwon, Korea
*
*E-mail: [email protected]
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Summary

Relatively large errors can exist in industrial robots as a result of mismatch between the controller model and the corresponding physical model. The paper outlines a novel approach for accuracy assessment and adjustment of multiaxis industrial robots through a low-cost ball-bar link system. The features of the ball-bar, which incorporated a 12 mm range digital displacement transducer in conjunction with a PC, are discussed. The ball-bar device was used in both a trammelling and circular mode of operation. This produced data which not only related to the accuracy of the robot but also enabled joint errors to be significantly reduced.

Keywords

Robot calibrationBall-barRobot accuracyRobot modellingAngle error
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 917 - 927
Copyright
Copyright © Cambridge University Press 2011

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