Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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Robot calibration - method and results

1991 , Schröer, K. , Duelen, G.

For many applications, robots are needed which have an absolute cartesian pose accuracy the same order of magnitude as their repeatability. Calibration procedures have to be applied to reach this aim. In the following paper, a calibration procedure is presented which allows the automatic determination of all kinematic parameters, gear parameters, and static elasticity effects. With the aid of these results it is possible to increase pose accuracy up to the robot's system limit as determined by its repeatability. Moreover, information can be acquired which gives hints toward improvements in robot design, therby also improving repeatability.

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Numerical analysis of the influence of internal number representation on accuracy of coordinate transformation of industrial robots

1987 , Duelen, G. , Held, J. , Kirchhoff, U.

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Force control of industrial robots. The contact problem

1989 , Dlabka, M. , Duelen, G. , Held, J. , Wendt, W.

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Research and development of industrial robots in Europe

1985 , Duelen, G. , Wendt, W.

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Algorithmic representation of work cells and task description for off-line programming

1987 , Schreck, G. , Bernhardt, R. , Duelen, G. , Kirchhoff, U.

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Improvement of the dynamic accuracy of continuous control paths

1984 , Spur, G. , Duelen, G. , Wendt, W.

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