Robot Joint Zero Offset Calibration and Accuracy Assessment

摘要：

　　This study presents a joint zero offset calibration method developed to improve the accuracy of six-axis industrial robots,using multiple location constraints.In the study,robot joint zero offset is calibrated by controlling a robot to reach the same location in different poses.Experiments are carried out to determine the proper number of locations and poses and to verify the effects of calibration.The proposed relative calibration method and measurement system are simple,inexpensive and feasible for industrial robot calibration.Experiments demonstrate the proposed calibration methods ability to improve the accuracy of robots and thus improve the robot path quality in robot offline programming.

关键词： Robot accuracy joint zero offset calibration multiple location constraints

作者: Ma Lei He Shanshan Yan Changya Lee Chen-Han

作者单位: Manufacturing Intelligence Engineering Research Center,Wuhan Institute of Technology,China

会议类型: 国际会议

会议名称: 第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))

会议地点: 深圳

会议语种:英文

页码: 1-7

在线出版日期: 2017-11-23（万方平台首次上网日期，不代表论文的发表时间）