Samak, Samoil and Dimovski, Igor and Trompeska, Mirjana and Hristoski, Martin and Kochoski, Filip and Dukovski, Vladimir (2018) Computer-based simulation and validation of robot accuracy improvement method and its verification in robot calibration procedure. In: ETAI 2018.
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Computer-based simulation and validation of robot accuracy improvement method and its verification in robot calibration procedure.pdf Download (3MB) |
Abstract
Algorithm for improving accuracy of six-axes robot is developed and validation method based on computer simulation is implemented. Optimization is used to minimize the distances between nominal and actual positions of the tool. That way, the parameters of the robot are calibrated and using such calibrated parameters, accuracy of the robot is significantly enhanced. Measurement is done using API Radian laser tracker and experimental data is collected on KUKA 480 R3330. For the set of 75 points used for calibration, simulation predicted reduction of the mean of the total displacement error from 1.619 mm to 0.174 mm. After that, the same points were used for verification procedure. Another measurement is performed, using the calibrated parameters and numerically calculated compensation of the machine coordinates of the robot. The mean of total displacement error was 0.293 mm and that way the correctness of described method is verified.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | Engineering and Technology > Chemical engineering Engineering and Technology > Electrical engineering, electronic engineering, information engineering Engineering and Technology > Materials engineering Engineering and Technology > Other engineering and technologies |
| Divisions: | Faculty of Technology |
| Depositing User: | Svetlana Risteska |
| Date Deposited: | 01 Nov 2023 08:31 |
| Last Modified: | 01 Nov 2023 08:31 |
| URI: | https://eprints.ugd.edu.mk/id/eprint/32474 |
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