Robot Calibration and Workcell Accuracy Enhancement

Calibration, modeling and sensor guided approaches are proposed to improve robot workcell accuracy to achieve effective offline programming and precise contact operations. Challenges in the proposed solution include:

  1. Implementation of calibration results in closed architecture industrial robots,
  2. Non-geometric error sources that are difficult to model, identify and compensate, and
  3. Sensor-based localization of free form work objects with geometric uncertainties.

Some of the research results include:

  1. A model-based calibration with online compensation was implemented in a ABB robot and achieved an average error of less than 0.3mm.
  2. A calibration and compensation framework uses non-model based approach to improve local accuracy and to provide measurement results for the outer loop model-based calibration to improve model and subsequently global accuracy.Calibration
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