A geometrical approach for online error compensation of industrial manipulators

In this paper, a comprehensive online error compensation approach using offline calibration results is proposed for industrial manipulators (with closed control architecture), in order to improve its accuracy. The contents in this paper include a calibration algorithm based on the product-of-exponen...

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Bibliographic Details
Published in2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 738 - 743
Main Authors Mustafa, S K, Pey Yuen Tao, Guilin Yang, I-Ming Chen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2010
Subjects
Calibration
Industrial Robotics
Joints
Kinematics
Robot kinematics
Robot sensing systems
Service robots
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Summary:In this paper, a comprehensive online error compensation approach using offline calibration results is proposed for industrial manipulators (with closed control architecture), in order to improve its accuracy. The contents in this paper include a calibration algorithm based on the product-of-exponential formula, an online error compensation procedure for implementing the calibration results on industrial manipulators, and an experimental study that is conducted on a 6-DOF industrial manipulator from ABB (Model: IRB-4400) with a laser tracker system from Leica (Model: AT901-MR) and its Tracker-Machine control sensor. After implementing the proposed online error compensation approach, the accuracy of the ABB industrial manipulator improved to 0.3 mm, thus verifying the effectiveness of the proposed error compensation approach.
ISBN:1424480310
9781424480319
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2010.5695784