TY - GEN
T1 - Identification of a kinematic model of a 6DOF industrial manipulator with angular positioning deviation 'Error Map' of rotary axes
AU - Alam, Md Moktadir
AU - Ibaraki, Soichi
AU - Fukuda, Koki
AU - Morita, Sho
AU - Usuki, Hiroshi
N1 - Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - To improve the overall “absolute” positioning accuracy for the industrial manipulator, it is indispensable to calibrate its kinematic parameters. In conventional studies, researchers have focused on Denavit-Hartenberg (D-H) parameters. However, until now, for industrial manipulators, the absolute accuracy is significantly poor than its repeatability. In this study, we propose a new kinematic model of a 6DOF (degrees of freedom) industrial manipulator with the angular positioning deviation “error map” of each rotary axis. The angular positioning deviation is modeled as a function of command angular positions, as well as the rotation direction to model the influence of backlash. We also propose a method to identify the angular positioning deviation of all the rotary axes by using a laser tracker.
AB - To improve the overall “absolute” positioning accuracy for the industrial manipulator, it is indispensable to calibrate its kinematic parameters. In conventional studies, researchers have focused on Denavit-Hartenberg (D-H) parameters. However, until now, for industrial manipulators, the absolute accuracy is significantly poor than its repeatability. In this study, we propose a new kinematic model of a 6DOF (degrees of freedom) industrial manipulator with the angular positioning deviation “error map” of each rotary axis. The angular positioning deviation is modeled as a function of command angular positions, as well as the rotation direction to model the influence of backlash. We also propose a method to identify the angular positioning deviation of all the rotary axes by using a laser tracker.
KW - Industrial Manipulator
KW - Kinematic Calibration
KW - Laser Tracker
KW - Robot
UR - http://www.scopus.com/inward/record.url?scp=85092617064&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092617064&partnerID=8YFLogxK
U2 - 10.1115/ISFA2020-9655
DO - 10.1115/ISFA2020-9655
M3 - Conference contribution
AN - SCOPUS:85092617064
T3 - 2020 International Symposium on Flexible Automation, ISFA 2020
BT - 2020 International Symposium on Flexible Automation, ISFA 2020
PB - American Society of Mechanical Engineers (ASME)
T2 - 2020 International Symposium on Flexible Automation, ISFA 2020
Y2 - 8 July 2020 through 9 July 2020
ER -