ICMD 2017: Advances in Mechanical Design pp 1045-1061 | Cite as

Research on Simple Calibration and Compensation of a Robot System Used in Machining

Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 55)

Abstract

This paper analyzes the structure of a robot system used in machining small parts. Propose a method using a cube calibration part to calibrate and compensate for the vertical errors between each translational axis. And then calculate the position and pose of the rotational axes by least square method, so compensation can be realized without calculating the definite value of structure errors. To compare with the simple one, a contrast experiment is carried out. A laser tracker is used to measured points and least square method is used to fit the axial line. And use the structure errors to calibrate the kinematics model. Finally, measure the contact force between cutting tool and work-piece using a force sensor when relative motion is taking place. The result is the standard to evaluate the effect of each calibrating and compensating method. The experience indicates that the simple calibration is effective.

Keywords

Robot Structure errors Error calibration Least square fitting Error compensation 
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Notes

Acknowledgements

This project was supported by National Science and Technology Major Project of China (No. 20152X04005006), Science and Technology Planning Project of Guangdong Province, China (No. 2014B090921004, 2014B090920001, 2015B010918002), Science and Technology Major Project of Guangzhou, China (No. 201604040009).

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Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  1. 1.School of Mechanical and Automotive EngineeringSouth China University of TechnologyGuangzhouChina

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