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Development of Automated Pose Measurement Procedures for Calibrating Industrial Robots

 
: Mohamed, Mahmoud Essameldin Hamed
: Wenke, Gerhard; Borrmann, Christof

Bremen, 2015, 85 S.
Bremen, Hochschule, Master Thesis, 2015
Englisch
Master Thesis
Fraunhofer IFAM ()

Abstract
Using standard industrial robots in aerospace automated manufacturing requires a high level of accuracy. Therefore, standardindustrial robots should be calibrated. Full pose measurements(position and orientation) of the robot end-effectors are required for the identification of therobot kinematic errors during the calibration process.This thesis details the development ofusing the measurements of three points for deriving the pose in respect to a reference frame. The developed method is compared with a commercial camera based method for measuring poses. A practical application of using the posemeasurements in robot calibration is presented in this thesis. The design, analysis, calibrationresults and measurement results are also presented in this thesis.The developed measurement methods are evaluated and tested on a standard industrial robot(KUKA KR 270 R2700 ultra). All measurements for the pose determination are done using alaser tracker (Leica AT901LR).

: http://publica.fraunhofer.de/dokumente/N-396018.html