拡張マニピュレータモデルによるロボットミリングの精度向上
Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model
重力補償器やリンク重量の影響を考慮した拡張モデルで産業用ロボットのエラストスタティック校正を行い、ミリング精度を約2.4倍改善した。
著者: Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoît Furet, Anatol Pashkevich
分類: cs.RO
原文アブストラクト
The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters identification accuracy. In contrast to other works, the proposed approach takes into account impact of the gravity compensator and link weights on the manipulator elastostatic properties. In order to improve the identification accuracy, the industry oriented performance measure is used to define optimal measurement configurations and an enhanced partial pose measurement method is applied for the identification of the model parameters. The advantages of the developed approach are confirmed by experimental results that deal with the elastostatic calibration of a heavy industrial robot used for milling. The achieved accuracy improvement factor is about 2.4.
