Title :
Calibration procedure for an industrial robot
Author :
Mooring, B.W. ; Pack, T.J.
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
Abstract :
A calibration procedure for a manipulator in a typical industrial environment is investigated. The calibration problem is posed, and the constraints are listed for the particular task to be addressed. The robot geometry is investigated to locate the primary sources of inaccuracy. A calibration procedure is proposed that combines design modifications in the robot with active calibration fixtures in the workspace. Results of several tests are tabulated to demonstrate the success of the calibration procedure
Keywords :
calibration; geometry; industrial robots; calibration; geometry; industrial robot; manipulator; workspace; Calibration; Costs; Data acquisition; Fixtures; Humans; Manipulators; Mechanical engineering; Packaging; Parameter estimation; Service robots;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12154
