| DOI | Trouver le DOI : https://doi.org/10.4271/2004-01-2833. |
|---|
| Auteur | Rechercher : Monsarrat, Bruno1; Rechercher : Côté, Gabriel1; Rechercher : Montigny, Martin De1; Rechercher : Perron, Claude1 |
|---|
| Affiliation | - Conseil national de recherches du Canada. Institut de recherche aérospatiale du CNRC
|
|---|
| Format | Texte, Article |
|---|
| Conférence | SAE 2004 Aerospace Manufacturing & Automated Fastening Conference & Exhibition, September 20-23, 2004, St-Louis, United States |
|---|
| Sujet | robotics; mathematical models; calibration; computer software and hardware; optics; lasers; planning/scheduling |
|---|
| Résumé | 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. |
|---|
| Date de publication | 2004 |
|---|
| Série | |
|---|
| Langue | anglais |
|---|
| Publications évaluées par des pairs | Oui |
|---|
| Numéro du CNRC | AMTC-2004-0005 |
|---|
| Numéro NPARC | 8933873 |
|---|
| Exporter la notice | Exporter en format RIS |
|---|
| Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
|---|
| Identificateur de l’enregistrement | 23f28202-a420-4cc2-aed8-96d8f52739e7 |
|---|
| Enregistrement créé | 2009-04-23 |
|---|
| Enregistrement modifié | 2023-03-23 |
|---|
