Title :
Improving the accuracy of industrial robots by offline compensation of joints errors
Author :
Olabi, Adel ; Damak, Mohamed ; Bearee, Richard ; Gibaru, Olivier ; Leleu, Stephane
Author_Institution :
LSIS, Arts et Metiers ParisTech, Lille, France
Abstract :
The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant position error in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally.
Keywords :
end effectors; identification; industrial robots; machining; manipulator kinematics; position control; end effector; end milling; identification methods; industrial robots; industry like prototyping; joints errors; kinematic errors; offline compensation; offline correction method; position error; premachining; transmission systems; Force; Gears; Robot sensing systems;
Conference_Titel :
Industrial Technology (ICIT), 2012 IEEE International Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4673-0340-8
DOI :
10.1109/ICIT.2012.6209986
