![]() ![]() Due to the particularity of the elastic pressure roller (EPR) of the end-effector, a calibration method of the pressure roller coordinate system is proposed. This paper presents a method for measuring, identifying, and compensating the pose errors of a six-axis gantry automated fiber placement (AFP) machine. The validation experiment shows the proposed method reduced the mean of distance error/distance and relative positioning error/relative positioning from 14.30 µm/mm to 4.4 µm/mm and from 20.15 µm/mm to 10.85 µm/mm. ![]() Simulations prove the performance of the proposed solution by comparing it with the current distance and positioning error methods. In addition, the influence of the redundant parameter on the error of relative position is analyzed, which indicates it can further improve the relative position’s accuracy. Then, an optimization function of the distance errors is proposed without an approximation condition to identify the controller's modifiable parameter errors. For implementation, a three-dimensional measurement system with R-test is designed to measure the robot end-effector's distance, which is the first successful use of this system for robot calibration. This paper proposes a kinematic calibration method based on the optimized distance error function to improve the accuracy of the relative positions of industrial robots.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. Archives
June 2023
Categories |