Compliance error calibration for robot based on statistical properties of single joint
- 1 Downloads
This paper focuses on compliance error calibration. Because kinematic parameter error is the main error of a robot, we should first compensate for it. And because the compliance errors of some joints are too small, not all joints should be compensated for he compliance errors. We rotate the single joint along its axis locked other joints to obtain the statistical properties of all joints. The compliance errors are induced by gravity and elastostatic. This paper presents a mapping from the compliance error onto the joint variable vector; on the other hand, it utilized a method to transform the robot compliance error from the laser tracker system frame to the robot frame. The main attention is paid to analyze each joint compliance error using a single axis rotating by laser tracking system. To compensate the compliance error, we divided this problem into three sequential subtasks: identifying the robot compliance matrix, computing the compliance error of gravity without external loading, compensating compliance errors of elastostatic error on external loading.
KeywordsCompliance error Robot Statistical properties Compensation Laser tracker system
Unable to display preview. Download preview PDF.
- A. Klimchik, Y. Wu and C. Dumas, Identification of geometrical and elastostatic parameters of heavy industrial robots, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany (2013).Google Scholar
- L. Wu, X. Yang and K. Chen, A minimal POE-based model for robotic kinematic calibration with only position measurements, IEEE Transactions on Automation Science and Engineering, 12 (2014) 1477–1483.Google Scholar
- A. Klimchik et al., Advanced robot calibration using partial pose measurements, Methods and Models in Automation and Robotics, 18th International Conference on IEEE (2013).Google Scholar