0
RESEARCH PAPERS: Mechanisms Papers

A Method for Determining and Correcting Robot Position and Orientation Errors Due to Manufacturing

[+] Author and Article Information
P. L. Broderick, R. J. Cipra

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

J. Mech., Trans., and Automation 110(1), 3-10 (Mar 01, 1988) (8 pages) doi:10.1115/1.3258902 History: Received July 01, 1986; Online November 19, 2009

Abstract

A method is presented for calibration of a robot to correct position and orientation errors due to manufacturing. The method is based on the shape matrix robot kinematic description. Each joint is individually and successively moved in order to explicitly calculate the shape matrix of each link. In addition, methods to correct for the errors in both the forward and inverse kinematic solutions are presented. The modification of the forward solution is a simple task. The modification of the inverse kinematic solution is a difficult problem and is achieved by an iterative technique which supplements the closed-form solution. An example of the calibration and inverse solution is presented to show the improvement in the accuracy of the robot.

Copyright © 1988 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In