Calibration of external linear robot axes using spline interpolation

Christof Borrmann, J. Wollnack
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引用次数: 5

Abstract

This paper introduces a method to enhance the accuracy of any robot system that combines an external linear axis with any industrial robot. The developed technique used measured positions and orientations (poses) of the linear axis to identify the existing deviations from an ideal linear axis model in six degrees of freedom (DOF). Based on the measured data B-Splines were used to model the external axis in all six DOF along its entire travel distance. The resulting model allowed the prediction of the linear axis pose with the help of the calculated splines. With this predictable pose the absolute accuracy of any standard industrial robot can be enhanced that is located on the linear axis. For adaptive processes this routine forms the basis of positioning a standard industrial robot regarding its absolute accuracy in combination with the advantageous workspace capability of an external axis. The described method was evaluated and tested on a standard industrial robot system using a standard external linear axis. With this modelling the absolute accuracy of the linear axis was improved close to its repeatability error. All measurements to determine the position and orientation of the linear axis were done with a laser tracker.
用样条插值法标定外直线机器人轴
本文介绍了一种将外线性轴与任意工业机器人相结合,提高任意机器人系统精度的方法。所开发的技术使用测量的线轴位置和方向(位姿)来识别在六自由度(DOF)下与理想线轴模型存在的偏差。基于实测数据,采用b样条对外轴在所有六个自由度沿其整个行程进行建模。所得到的模型可以利用计算出的样条曲线来预测直线轴位姿。有了这种可预测的姿态,任何标准工业机器人的绝对精度都可以提高,它位于线轴上。对于自适应过程,该程序构成了标准工业机器人绝对精度定位的基础,并结合了外轴的有利工作空间能力。采用标准外线性轴在标准工业机器人系统上对所述方法进行了评估和测试。通过这种建模,直线轴的绝对精度提高到接近其可重复性误差。所有测量,以确定直线轴的位置和方向是由激光跟踪器完成的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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