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Calibration of geometric and non-geometric errors of an industrial robot

Published online by Cambridge University Press:  25 April 2001

Joon Hyun Jang ,
Soo Hyun Kim  and
Yoon Keun Kwak
Joon Hyun Jang
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373–1, Kusong-dong, Yusong-gu, Taejon, 305–701 (South Korea)[email protected]
Soo Hyun Kim
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373–1, Kusong-dong, Yusong-gu, Taejon, 305–701 (South Korea)
Yoon Keun Kwak
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373–1, Kusong-dong, Yusong-gu, Taejon, 305–701 (South Korea)
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Abstract

Inaccurate positioning of the robot end effector causes joint deformation as well as geometric errors when an industrial robot has a payload at its end effector. We propose a new approach of calibration which deals with joint angle dependent errors to compensate for these phenomena. To implement this method, we divided the robot workspace into several local regions, and built a calibration equation by generating the constraint conditions of the end effector's motion in each local region using a three-dimensional position measurement system. The parameter errors obtained this way were interpolated using the Radial Basis Function Network (RBFN) so as to estimate calibration errors in the regions that we did not measure. We used this technique to improve the performance of a six DOF industrial robot used for arc welding.

Keywords

CalibrationDeformationKinematic errorRadial Basis Function NetworkConstraint equationCompensation
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 311 - 321
Copyright
2001 Cambridge University Press

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