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2報) : 誤差要因の分析と精度改善

概要

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An articulated type 3D robot teaching machine has been developed. This teaching machine has 6 degrees of freedom. It can produce the 3D coordinate data and orientation data of robot end effector. On the robot teaching task, easy operation and dexterity of the teaching machine is necessary to the teaching operator. The articulated type machine satisfies these requests but the accuracy is less than that of the Cartesian type machine, so the precise calibration is necessary to the articulated machine. On the 1st Report a calibration process was proposed but disregarded factor of error was found out. In this 2nd Report, we analyze the new factor of the measuring error and we have discovered the effect of the flexible coupling used in the teaching machine is very important. The measuring error of the teaching machine decreases about 1.0mm to 1.3mm when the coupling is exchanged.
公益社団法人精密工学会の論文
2004-03-05