Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Automatisierte Kalibrierung von Industrierobotern

 
: Schröer, K.; Held, J.; Kirchhoff, U.

Kirchhoff, U. ; Kernforschungszentrum Karlsruhe GmbH:
Komponenten für fortgeschrittene Roboter- und Handhabungssysteme
Karlsruhe, 1988 (KfK-PFT 142)
ISSN: 0176-6775
S.204-219
Deutsch
Aufsatz in Buch
Fraunhofer IPK ()
accuracy; elasticity model; gear model; kinematic model; manipulator; parameter identification; robot; theodolite measurement

Abstract
Improvement of positioning accuracy is necessary for advanced robotic applications. The results and the procedure for model parameter identification of robots is presented. As measuring device an automatic theodolite system is used. Identification of kinematic-geometric parameters, gear parameters; elasticity parameters is possible. Improvement of positioning accuracy up to the limits set by repeatability is show through a verification procedure.

: http://publica.fraunhofer.de/dokumente/PX-5407.html