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RESEARCH PAPERS

Industrial Robot Forward Calibration Method and Results

[+] Author and Article Information
D. E. Whitney, J. M. Rourke

The Charles Stark Draper Laboratory, Inc., Cambridge, MA. 02139

C. A. Lozinski

Mechanical Engineering Department, M.I.T., Cambridge, MA. 02139

J. Dyn. Sys., Meas., Control 108(1), 1-8 (Mar 01, 1986) (8 pages) doi:10.1115/1.3143737 History: Received October 24, 1984; Online July 21, 2009

Abstract

This paper presents a forward calibration method for serial link manipulators. The procedure uses a model whose parameters represent link lengths, joint encoder offsets, the relative orientations of consecutive axes, and experimentally observed effects of joint compliance, backlash, and gear transmission errors. A least squares numerical search algorithm uses theodolite measurements of tool position and the robot’s joint encoder readings to estimate the complete model’s parameters. The calibrated robot model predicts theodolite readings with an rms error of 5.7 × 10−5 rad (0.13 mm). Other tests show that this technique improves the robot model from as much as 4.8 mm error to 0.3 mm error.

Copyright © 1986 by ASME
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