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Advances in robot calibration - modelling, parameter identification, measurement

: Schröer, K.; Albright, S.L.; Grethlein, M.; Lisounkin, A.; Albada, G.D. van; Lagerberg, J.M.; Visser, A.

25th International Symposium on Industrial Robots '94. Proceedings
International Symposium on Industrial Robots <25, 1994, Hannover>
Conference Paper
Fraunhofer IPK ()
calibration; modelling; parameter identification; robot; robot measurement

Measurement and calibration play an increasingly important role in robot production as well as in robot implementation and operation within computer-integrated manufacturing or assembly systems. The production, implementation and operation of and with robots and multi-axis machine tools are all areas where robot-calibration results can lead to significant accuracy-improvement and/or cost-saving opportunities. Presented are robot calibration tools for robot modelling, model parameter identification and robot measurement which can be used for evaluating quality control of robot production and monitoring deterioration of robot components, and for improving robot absolute positioning accuracy as required for use of off-line programming.