Modeling, optimizing and simulating robot calibration with accuracy improvement



Título del documento: Modeling, optimizing and simulating robot calibration with accuracy improvement
Revista: Journal of the Brazilian Society of Mechanical Sciences
Base de datos: PERIÓDICA
Número de sistema: 000312011
ISSN: 0100-7386
Autores: 1
2
Instituciones: 1Universidade de Brasilia, Departamento de Engenharia Mecanica, Brasilia, Distrito Federal. Brasil
2Cranfield University, Silsoe, Bedford. Reino Unido
Año:
Periodo: Sep
Volumen: 21
Número: 3
Paginación: 384-401
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Descriptivo
Resumen en inglés This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their physical behavior and its statistical repeatability. An evaluation of the corrected nominal kinematic model brings about a clear perception of the influence of distinct variables involved in the process for a suitable planning, and indicates a considerable accuracy improvement when the optimized model is compared to the non-optimized one
Disciplinas: Ingeniería
Palabras clave: Ingeniería mecánica,
Robots,
Parámetros geométricos,
Cinemática
Keyword: Engineering,
Control engineering,
Mechanical engineering,
Robots,
Geometric parameters,
Kinematics
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