2A1-A10 レーザートラッキングシステムを用いたロボットの機構キャリブレーション : ギア伝達誤差とアームコンプライアンスのNNによる補正とGAによる最適計測点の選択

概要

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A laser tracking system is employed for measuring the robot arm's tip with high accuracy. The geometric parameters in the robot kinematic model are calibrated by minimizing errors between the measured positions and the predicted ones based on the model. The residual errors caused by non-geometric parameters are further reduced by using neural networks, realizing the high positioning accuracy of sub- millimeter order. To speed up the calibration process, the smaller number of measuring points is preferable. Optimal measuring points, which realize high positioning accuracy with small point number, are selected using genetic algorithm (GA).
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