![]() ![]() Herein, a kinematic calibration method for an industrial robot using an artifact with a hybrid spherical and ellipsoid surface is proposed. Current measurement and compensation methods for industrial robots either require expensive measuring systems, producing positioning or orientation errors, or offer low measurement accuracy. This imposes a stringent requirement for improving the absolute kinematic accuracy of industrial robots in terms of the position and orientation of the robot arm end. ![]() However, the geometrical transfer of joint kinematic errors and the relatively weak rigidity of industrial robots compared with frame movement systems decrease their absolute kinematic accuracy, thereby limiting their further application in ultra-precision manufacturing. Industrial robots are widely used in various areas owing to their greater degrees of freedom (DOFs) and larger operation space compared with traditional frame movement systems involving sliding and rotational stages.
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