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Industry-Oriented Performance Measures for Design of Robot Calibration Experiment

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New Trends in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 7))

Abstract

The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified parameters. This approach allows the users to define optimal measurement configurations for robot calibration for given work piece location and machining forces/torques. These performance measures are suitable for comparing the calibration plans for both simple and complex trajectories to be performed. The advantages of the developed techniques are illustrated by an example that deals with machining using robotic manipulator.

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References

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Acknowledgments

The authors would like to acknowledge the financial support of the Project ANR-2010-SEGI-003-02-COROUSSO.

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Authors and Affiliations

  1. Ecole des Mines de Nantes, Nantes, France

    Yier Wu, Alexandr Klimchik & Anatol Pashkevich

  2. Department Automation and production, Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

    Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro & Benoît Furet

Authors
  1. Yier Wu
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  2. Alexandr Klimchik
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  3. Anatol Pashkevich
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  4. Stéphane Caro
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  5. Benoît Furet
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Corresponding author

Correspondence to Anatol Pashkevich .

Editor information

Editors and Affiliations

  1. , Structural and Mechanical Engineering, University of Cantabria, Avenida de los Castros, Santander, 39005, Spain

    Fernando Viadero

  2. , Laboratory of Robotics & Mechatronics, University of Cassino, Via di Biasio 43, Cassino, 03043, Italy

    Marco Ceccarelli

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Wu, Y., Klimchik, A., Pashkevich, A., Caro, S., Furet, B. (2013). Industry-Oriented Performance Measures for Design of Robot Calibration Experiment. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_55

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  • DOI: https://doi.org/10.1007/978-94-007-4902-3_55

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4901-6

  • Online ISBN: 978-94-007-4902-3

  • eBook Packages: EngineeringEngineering (R0)

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