Ultra-high-precision Industrial Robots Calibration

摘要：

This paper furnishes the theoretical basis to perform the calibration of one or more ultra-high-precision industrial robots operating in the same workspace. We propose a new calibration procedure that keeps in account the factors that lower the robot accuracy at nanometer scale. To validate this approach, we present the practical case of the calibration of a two industrial robots system. Finally, we propose nanoindentation as an alternative method to evaluate the final accuracy reached by the system after calibration.

作者: Emanuele Lubrano Mohamed Bouri Reymond Clavel

作者单位: LSRO (Laboratory of Robotic Systems),EPFL,Lausanne,Switzerland LSRO,EPFL,Lausanne,Switzerland

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 228-233

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）