By Topic

Towards the deployment of industrial robots as measurement instruments - An extended forward kinematic model incorporating geometric and nongeometric effects

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Katayon Radkhah ; Simulation, Systems Optimization and Robotics Group, Technische, Universität Darmstadt, Germany ; Thomas Hemker ; Martin Friedmann ; Oskar von Stryk

In the area of mounting and spot-welding of body-in-white, absolutely accurate robots are installed as measuring instruments, replacing expensive coordinate and other external measuring machines. Measurement technologies based on industrial robots play an increasingly important role. Such applications require highly accurate robots. Prior to deployment of highly accurate robot, however, it needs to be ensured that the implemented robot model fits the real model. Robot calibration can offer a significant opportunity to improve the positioning accuracy and to cut production costs. Existing calibration approaches fail to capture geometric and elastic effects occurring in the robot forward kinematics. Therefore, in this work an extended forward kinematic model incorporating both geometric and elastic effects has been developed in which the positioning accuracy of a manipulator, with or without an accurate internal robot model in the robot controller, is improved.

Published in:

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Date of Conference:

14-17 July 2009