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Improved Positioning Accuracy of the PA10-6CE Robot with Geometric and Flexibility Calibration

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4 Author(s)
Lightcap, C. ; Univ. of Florida, Gainesville ; Hamner, S. ; Schmitz, T. ; Banks, S.

Accurate determination of robot geometric and flexibility parameters permits significant reduction of systematic errors and improved end-effector positioning accuracy. We apply a 30-parameter flexible geometric model to the Mitsubishi PA10-6CE robot and reduce mean/peak positional errors from 1.80/2.45 mm to 0.33/0.71 mm while loaded at 44 N.

Published in:

Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 2 )