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Title: An investigation of singularities in robot kinematic chains aiming at building robot calibration models for off-line programming
Authors: Motta, J. M. S. T.
Assunto:: Off-line Programming
model Optimization
robot Calibration
kinematic Models
Issue Date: 2005
Publisher: Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
Citation: J. Braz. Soc. Mech. Sci. & Eng.,v.27,n.2,p.200-204,2005
Abstract: Robot Calibration is a term applied to the procedures used in determining actual values that describe the geometric dimensions and mechanical characteristics of a robot or multibody structure. A robot calibration system must consist of appropriate robot modeling techniques, accurate measurement equipment, and reliable model parameter determination methods. For practical improvement of a robot's absolute accuracy, error compensation methods are required that use calibration results. Important to robot calibration methods is an accurate kinematic model that has identifiable parameters. This parameterized kinematic model must be complete, continuous and minimal. This work concerns to the implementation of techniques to optimize kinematic models for robot calibration through numerical optimization of the mathematical model. The optimized model is then used to compensate the model errors in an off-line programming system, enhancing significantly the robot kinematic model accuracy. The optimized model can be constructed in an easy and straight operation, through automatic assignment of joint coordinate systems and geometric parameter to the robot links. Assignment of coordinate systems by this technique avoids model singularities that usually spoil robot calibration results.
metadata.dc.description.unidade: Em processamento
DOI: https://dx.doi.org/10.1590/S1678-58782005000200013
Appears in Collections:Artigos publicados em periódicos e afins

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