Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Liang Du; Guangming Shi; Weibin Guan; Yuansheng Zhong; Jin Li

doi:10.1117/12.2073187

3 December 2014 Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Liang Du, Guangming Shi, Weibin Guan, Yuansheng Zhong, Jin Li

Author Affiliations +

Proceedings Volume 9297, International Symposium on Optoelectronic Technology and Application 2014: Laser and Optical Measurement Technology; and Fiber Optic Sensors; 929721 (2014) https://doi.org/10.1117/12.2073187
Event: International Symposium on Optoelectronic Technology and Application 2014, 2014, Beijing, China

Abstract

Geometric error is the main error of the industrial robot, and it plays a more significantly important fact than other error facts for robot. The compensation model of kinematic error is proposed in this article. Many methods can be used to test the robot accuracy, therefore, how to compare which method is better one. In this article, a method is used to compare two methods for robot accuracy testing. It used Laser Tracker System (LTS) and Three Coordinate Measuring instrument (TCM) to test the robot accuracy according to standard. According to the compensation result, it gets the better method which can improve the robot accuracy apparently.

Citation Download Citation

Liang Du, Guangming Shi, Weibin Guan, Yuansheng Zhong, and Jin Li "Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot", Proc. SPIE 9297, International Symposium on Optoelectronic Technology and Application 2014: Laser and Optical Measurement Technology; and Fiber Optic Sensors, 929721 (3 December 2014); https://doi.org/10.1117/12.2073187

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