Title :
Improved Positioning Accuracy of the PA10-6CE Robot with Geometric and Flexibility Calibration
Author :
Lightcap, Chris ; Hamner, Samuel ; Schmitz, Tony ; Banks, Scott
Author_Institution :
Univ. of Florida, Gainesville
fDate :
4/1/2008 12:00:00 AM
Abstract :
Accurate determination of robot geometric and flexibility parameters permits significant reduction of systematic errors and improved end-effector positioning accuracy. We apply a 30-parameter flexible geometric model to the Mitsubishi PA10-6CE robot and reduce mean/peak positional errors from 1.80/2.45 mm to 0.33/0.71 mm while loaded at 44 N.
Keywords :
calibration; end effectors; position control; PA10-6CE robot; end-effector; flexibility calibration; geometric calibration; positioning accuracy; Geometric calibration; Mitsubishi PA10-6CE; joint flexibility; parameter identification;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.914003
