publication . Part of book or chapter of book . 2008

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

Frank Shaopeng Cheng;
Open Access
  • Published: 01 Sep 2008
  • Publisher: InTech
Abstract
Industrial robot manipulators are important components of most automated manufacturing systems. Their design and applications rely on modeling, analyzing, and programming the robot tool-center-point (TCP) positions with the best accuracy. Industrial practice shows that creating accurate robot TCP positions for robot applications such as welding, material handling, and inspection is a critical task that can be very time-consuming depending on the complexity of robot operations. Many factors may affect the accuracy of created robot TCP positions. Among them, variations of robot geometric parameters such as robot link dimensions and joint orientations represent the...
Subjects
free text keywords: Industrial robot, law.invention, law, Downtime, Kinematics, Robot kinematics, Robot calibration, Computer science, Computer vision, Software, business.industry, business, Reference frame, Robot, Artificial intelligence
Download fromView all 2 versions
https://www.intechopen.com/cha...
Part of book or chapter of book
Provider: UnpayWall
InTech
Part of book or chapter of book . 2008
Provider: InTech
https://www.intechopen.com/dow...
Part of book or chapter of book . 2008
Provider: Crossref
17 references, page 1 of 2

Abderrahim, M. & Whittaker, A. R. (2000). Kinematic Model Identification of Industrial Manipulators, Robotics and Computer-Integrated Manufacturing, Vol. 16, No. 1, February 2000, pp 1-8.

Bernhardt, R. (1997). Approaches for Commissioning Time Reduction, Industrial Robot, Vol. 24, No. 1, pp. 62-71. [OpenAIRE]

Cheng, S. F. (2007). The Method of Recovering TCP Positions in Industrial Robot Production Programs, Proceedings of 2007 IEEE International Conference on Mechatronics and Automation, August 2007, pp. 805-810.

Cheng, S. F. (2003). The Simulation Approach for Designing Robotic Workcells, Journal of Engineering Technology, Vol. 20, No. 2, Fall 2003, pp. 42-48.

Denavit, J. & Hartenberg, R. S. (1955). Kinematic Modelling for Robot Calibration, Trans. ASME Journal of Applied Mechanics, Vol. 22, June 1955, pp. 215-221.

Dennis, J. E. & Schnabel, R. B. (1983). Numerical Methods for Unconstrained Optimization and Nonlinear Equations, New Jersey: Prentice-Hall.

Driels, M. R. & Pathre, U. S. (1990). Significance of Observation Strategy on the Design of Robot Calibration Experiments, Journal of Robotic Systems, Vol. 7, No. 2, pp. 197-223.

Greenway, B. (2000). Robot Accuracy, Industrial Robot, Vol. 27, No. 4,2000, pp 257-265.

Mooring, B., Roth, Z. and Driels, M. (1991). Fundamentals of manipulator calibration, Wiley, New York. [OpenAIRE]

Motta, J. M. S. T., Carvalho, G. C. and McMaster, R. S. (2001). Robot Calibration Using a 3-D Vision-Based Measurement System with a Single Camera, Robotics and ComputerIntegrated Manufacturing, Ed. Elsevier Science, U.K., Vol. 17, No. 6, pp. 457-467.

Roth, Z. S., Mooring, B. W. and Ravani, B. (1987). An Overview of Robot Calibration, IEEE Journal of Robotics and Automation, RA-3, No. 3, pp. 377-85.

Schroer, K. (1993). Theory of Kinematic Modeling and Numerical Procedures for Robot Calibration, Robot Calibration, Chapman & Hall, London. [OpenAIRE]

Stone H. W. (1987). Kinematic modeling, identification, and control of robotic manipulators. Kluwer Academic Publishers.

ISBN 978-953-7619-06-0

Hard cover, 546 pages

17 references, page 1 of 2
Any information missing or wrong?Report an Issue