| DOI | Resolve DOI: https://doi.org/10.4271/2004-01-2833. |
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| Author | Search for: Monsarrat, Bruno1; Search for: Côté, Gabriel1; Search for: Montigny, Martin De1; Search for: Perron, Claude1 |
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| Affiliation | - National Research Council of Canada. NRC Institute for Aerospace Research
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| Format | Text, Article |
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| Conference | SAE 2004 Aerospace Manufacturing & Automated Fastening Conference & Exhibition, September 20-23, 2004, St-Louis, United States |
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| Subject | robotics; mathematical models; calibration; computer software and hardware; optics; lasers; planning/scheduling |
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| Abstract | Robust measurement planning algorithms and calibration protocols applicable to both serial and hybrid industrial robots containing four-bar actuating mechanisms are presented in this paper. Contrary to currently available approaches developed by commercial calibration solutions providers, the present methodology based on a Laser Interferometry tracking system leads to an unprecedented level of positional accuracy, as required in typical aerospace manufacturing robotic applications. This paper presents several technical contributions, from innovative measurement planning algorithms, highly accurate geometric and nongeometric kinematic errors models to functional software modules incorporated in state-of-the-art robotic off-line programming software, viz, Workspace5.04 and Delmia V5 Robotics. The improvement in robot accuracy achieved via this complete suite of measurement algorithms and software tools is finally demonstrated through test cases. |
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| Publication date | 2004 |
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| Series | |
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| Language | English |
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| Peer reviewed | Yes |
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| NRC number | AMTC-2004-0005 |
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| NPARC number | 8933873 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 23f28202-a420-4cc2-aed8-96d8f52739e7 |
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| Record created | 2009-04-23 |
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| Record modified | 2023-03-23 |
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