1985 Volume 28 Issue 244 Pages 2400-2406
This paper describes a method to correct structural errors in articulated robots. Structural errors, caused by a deviation of the actual parameters from the designed parameters, occur due to errors during assembly. There are two types of errors which reduce the absolute positioning accuracy of robots; one is an arm length error and the other is an angle error between neighboring arms. The arm length error has been extensively researched and corrected, but a means for correction of the angle error has not been completed yet. In this paper, these two types of parameters and a new algorithm to correct all structural parametric errors are introduced. Using this method, we achieved absolute positioning accuracy 100 times as precise as the conventional method.
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 1, Solid mechanics, strength of materials