Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 1993.10a
  • /
  • Pages.545-549
  • /
  • 1993
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Calibation and Compensation for the Kinematic Error in Robot Manipulatior

로봇의 기구학적 오차측정과 보상에 관한 연구

  • 이종신 (삼성중공업 중앙연구소 CAE팀) ;
  • 임성호 (삼성중공업 중앙연구소 CAE팀) ;
  • 조희상 (삼성중공업 중앙연구소 CAE팀) ;
  • 이의훈 (삼성중공업 중앙연구소 CAE팀)
  • Published : 1993.10.01
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Abstract

This paper presents the method of calibrating and compensating for the kinematic errors in robot manipulators. A calibration model is developed to represent any geometric errors in the manipulator's structure. A calibration jig is used to find the values of these kinematic errors in the end-effector's position and a calibration algormined for a SSR-6 robot manipulator developed by Samsung Heavy Industry, Daeduk R & D Center. Through this experiment the maximun kinematic error is reduced from 10mm to 0.4mm

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