産業用ロボットによる切削加工に関する研究 : 第3報,ロボットキャリブレーションによる加工精度の改善

概要

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A new robot calibration method has been developed and applied to improve the positioning accuracy of an articulated robot with six degrees of freedom. Robot calibration is indispensable for constructing an off-line teaching function for machining robots. Moreover, high-accuracy machining will be achieved by improving the positioning accuracy of the robot. To realize a new calibration method, the mathematical model which represents the robot used in the experiment was established ; then kinematic equations and their differential relationships were derived. In this method, the geometric parameters of the robot can be identified using moving distance errors at the end effecter of the robot. This means that this method is more effective in calibrating robots because moving distance errors are measured exactly and easily by a laser interferometer. After calibration, the root mean squared (RMS) value of moving distance errors per 100 mm-step movement decreases from 567μm to 107μm, and machining accuracy is improved effectively.
1995-01-25