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  4. Practical error compensation for use in off-line programming of robots
 
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1991
Conference Paper
Title

Practical error compensation for use in off-line programming of robots

Abstract
Off-line generated target poses used to direct the task of a robot result in position and orientation inaccuracies in the actual robot. These inaccuracies stem from dimensional differences between the robot-model used for programming and control, and the actual robot. Errors in the robot-model can be compensated using calibrated robot-model results which closely estimate actual kinematic and mechanical features of the robot. Presented in this paper is a practical error compensation procedure developed in combination with a tested robot calibration routine at the IPK. Using special measurement tools and mathematical procedures, robot parameters can be completely identified from the robot-base coordinate frame to a coordinate frame attached to the robot's tool-mounting flange. Error compensation occurs outside the robot controller so not to disturb control algorithms and parameters.
Author(s)
Albright, S.
Schröer, K.
Mainwork
Proceedings of the European Robotics and Intelligent Systems Conference. EURISCON  
Conference
European Robotics and Intelligent Systems Conference 1991  
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
Keyword(s)
  • error compensation

  • measurement target

  • parameter identification

  • robot calibration

  • robot modelling

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