Open AccessImproving the Absolute Accuracy by Online Interpolation Technique of Industrial Robots
Author(s) -
Darpan I. Patel,
Lars Lienenlüke,
Simon Storms,
Christian Brecher,
Johannes Wied
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/575/1/012013
Subject(s) - interpolation (computer graphics) , computer science , robot , calibration , standard deviation , compensation (psychology) , kinematics , absolute deviation , computer vision , artificial intelligence , industrial robot , laser tracker , mathematics , laser , optics , statistics , physics , motion (physics) , psychology , classical mechanics , psychoanalysis
This paper describes a novel method to improve the accuracy of industrial robot by calibration technique. Robot calibration is broadly classified into model-based and modeless techniques. In this paper, a modeless technique capable of interpolating the deviation along the Z-axis is defined which doesn’t consider any kinematic model, instead adapts interpolation method to compensate errors. The robot’s deviation is measured with a laser tracker and the deviation controlling parameters are calculated. The controlling parameters interpolate the deviation and with an online compensation program this deviation is compensated in real time scenario. This modeless technique is experimentally tested and it demonstrates a substantial improvement in the accuracy of the robot.