Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2012

Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors

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 error of position 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.

Domains

Automatic
Fichier principal
Vignette du fichier
Improving_Accuracy_Robots_ICIT2012.pdf (1.91 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00777382 , version 1 (17-01-2013)

Identifiers

  • HAL Id : hal-00777382 , version 1

Cite

Adel Olabi, Mohamed Damak, Richard Béarée, Olivier Gibaru, Stéphane Leleu. Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors. IEEE International Conference on Industrial Technology, Mar 2012, Island of Kos, Greece. ⟨hal-00777382⟩
327 View
1831 Download

Share

Gmail Facebook X LinkedIn More