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A novel ultra-precision integrated robotic system

Published online by Cambridge University Press:  14 June 2005

ShaoWei Gong
ShaoWei Gong
Affiliation:
Green Standard Technologies, 881 Spring Valley Drive, Cookeville, TN 38501 (USA) E-mail: [email protected]
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Abstract

An ultra-precision integrated robotic system is developed, which integrates a passive robotic measurement system (shadow system) with an industrial robot. The shadow system is built almost ideal. In a working process, when the end-effecter of integrated robot is driven to a target with errors which are caused by degrading factors associated with the robot, the shadow system will independently detect the end-effecter frame instantly with ultra-precision kinematic accuracy. A scheme of approach control is then established to drive the end-effecter of the integrated robot to compensate the error step by step until the desired target is achieved with ultra-precision positioning accuracy.

Keywords

Ultra-precision6-D robotShadow systemRYLDAKinematic accuracy
Type
Research Article
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 501 - 513
Copyright
© 2005 Cambridge University Press

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