多関節型3次元ロボットティーチング装置に関する研究(第1報) : 誤差モデルの基本的な解析と校正法の検討

概要

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This paper describes about the linematic error model and calibration procedure of the 3D robot teaching instrument. 3D teaching operation, using a real robot is not efficient work. The 3D teaching instrument has been developed for the robot teaching tasks. Articulated type teaching instrument has high mobility, but it is necessary to calibrate precisely to realize high positioning accuracy. In this report a method to identify the base point of measuring coordinate system and offset angle of the joint, numerically by Powell method is proposed. A calibration method of link parameter errors, using the SVD (Singular Value Decomposition) is presented. By the experimental results, this calibration procedure is proved.
公益社団法人精密工学会の論文
2003-04-05