A Method to Correct Structural Errors in Articulated Robots
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概要
- 論文の詳細を見る
This paper describes a method to correct structural errors in articulated robots. Structural errors, caused by a deviation of the actual parameters from the designed parameters, occur due to errors during assembly. There are two types of errors which reduce the absolute positioning accuracy of robots; one is an arm length error and the other is an angle error between neighboring arms. The arm length error has been extensively researched and corrected, but a means for correction of the angle error has not been completed yet. In this paper, these two types of parameters and a new algorithm to correct all structural parametric errors are introduced. Using this method, we achieved absolute positioning accuracy 100 times as precise as the conventional method.
- 一般社団法人日本機械学会の論文
著者
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Mohri Shunji
Production Engineering Research Laboratory Hitachi Ltd.
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OKADA Takushi
Production Engineering Research Laboratory, Hitachi, Ltd.
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Okada Takushi
Production Engineering Research Laboratory Hitachi Ltd.
関連論文
- A Method to Correct Structural Errors in Articulated Robots
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