Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robot Calibration with Joint Stiffness Parameters for the Enhanced Positioning Accuracy

위치 정밀도 향상을 위한 관절강성 파라미터 포함 로봇 캘리브레이션

  • 강희준 (울산대학교 전기전자정보시스템공학부) ;
  • 신성원 (울산대학교 전기전자정보시스템공학부) ;
  • 노영식 (울산대학교 전기전자정보시스템공학부) ;
  • 서영수 (울산대학교 전기전자정보시스템공학부) ;
  • 임현규 (현대중공업 기술개발본부 기계전기연구소) ;
  • 김동혁 (현대중공업 기술개발본부 기계전기연구소)
  • Published : 2008.04.01
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Abstract

This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

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References

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