WIT Press


Calibration And Correction Methods Of Spatial Errors Found In Cartesian Manipulators

Price

Free (open access)

Paper DOI

10.2495/LAMDAMAP970391

Volume

16

Pages

11

Published

1997

Size

916 kb

Author(s)

A.P. Longstaff, M. Mavromihales and D.G. Ford

Abstract

The paper suggests how the manufacturing process can be improved by the use of off- line programming of robots in the production line. Calibration is necessary for this strategy. Some calibration methods are noted and their limitations discussed. Knowledge gained from research in geometric error compensation in machine tools is applied in principle to the compensation of errors in Cartesian manipulators. The method devised makes use of a compensation algorithm based on results obtained from a deviation error map. Data derived from laser measurement techniques is used for the generation of algorithms that can be integrated through the manipulator control system. Introduction The quality and reliability of working assemblies can be improved

Keywords