STUDY ON ROBOT CALIBRATION USING A LASER TRACKING SYSTEM(1ST REPORT) - ESTIMATION OF ROBOT ACCURACY AND CONSIDERATION ON DISADVANTAGE OF JOINT AXIS ESTIMATING METHOD-

SEIJI AIYAGI; JUN FUJIOKA; KAZUHISA ISII

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STUDY ON ROBOT CALIBRATION USING A LASER TRACKING SYSTEM(1ST REPORT) - ESTIMATION OF ROBOT ACCURACY AND CONSIDERATION ON DISADVANTAGE OF JOINT AXIS ESTIMATING METHOD-

机译：激光跟踪系统进行机器人标定的研究（第一份报告）-机器人精度的估算以及对关节轴估算方法缺点的考虑-

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Aiming at realizing off-line programming, many researches of improving robot's accuracy by calibrating the kinematic parameters of a robot are being carried out now. For an effective calibration it is necessary to measure the position of the tip of a robot arm precisely in a comparatively wide area. Although a laser tracking system is regarded as the most practical measuring system for this purpose in ISO 9283, there is no report yet which actually applies this system to the robot calibration. In this paper a6-DOF articulated robot is calibrated by using a laser tracking system according to the joint axis estimating method and the effectiveness of this system is certified. A method of estimating the accuracy which refers to the robot base coordinate system is proposed. It is proved experimentally that the accuracy of the robot before calibration is worse than 3mm. The robot after calibration is positioned to the limited grid which is in the area near the initial pose of the calibration and to the wide grid. The accuracy in the limited grid is improved to be 0.27 mm by the calibration , however the accuracy in the wide grid is worse compared with that in the limited grid. From this result it is proved that the joint axis estimating method is not so effective except for the neighborhood of the initial pose.

机译：为了实现离线编程，目前正在进行许多通过校准机器人的运动学参数来提高机器人精度的研究。为了进行有效的校准，必须在相对较宽的区域内精确测量机械臂尖端的位置。尽管在ISO 9283中激光跟踪系统被认为是用于此目的的最实用的测量系统，但尚无报告将该系统实际应用于机器人校准。本文根据关节轴估计方法，通过激光跟踪系统对6-DOF铰接式机器人进行了校准，并验证了该系统的有效性。提出了一种基于机器人基础坐标系的精度估计方法。实验证明，校准前机器人的精度低于3mm。校准后的机器人将定位在校准初始姿势附近区域内的有限网格和宽网格上。通过校准将受限网格的精度提高到0.27 mm，但是宽网格的精度比受限网格的精度差。从该结果证明，除了初始姿势的附近以外，关节轴估计方法不是那么有效。

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《精密工学会誌》 |1999年第7期|1035-1040|共6页
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SEIJI AIYAGI; JUN FUJIOKA; KAZUHISA ISII;
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正文语种 jpn
中图分类机械制造工艺;仪器、仪表;
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2. DEvelopment of Orientation Measuring System of a Robot Using a Gyroscope (2nd Report) -proposal of Position and Orientation Calibration Method of a Robot using Both Laser Tracking System and Gyroscope- [J] . Jun Fujioka, Seiji Aoyagi, Hiroaki Seki 精密工学会誌 . 2001,第10期

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4. Degenerated Degree of Freedom Sensing Without Loss of Accuracy While Estimating the Rigid Body Parameters for the Calibration of a Two-Axis Robotic Arm for Prototype Fast Breeder Reactor, Steam Generator Inspection System [C] . S. Joseph Winston, Joel Jose, D. Jagadishan, International Conference on Machines and Mechanisms . 2019

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7. Development of Orientation Measuring System of a Robot Using a Gyroscope. 2nd Report. Proposal of Position and Orientation Calibration Method of a Robot Using Both Laser Tracking System and Gyroscope. [O] . Jun FUJIOKA, Seiji AOYAGI, Hiroaki SEKI, 2001

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STUDY ON ROBOT CALIBRATION USING A LASER TRACKING SYSTEM(1ST REPORT) - ESTIMATION OF ROBOT ACCURACY AND CONSIDERATION ON DISADVANTAGE OF JOINT AXIS ESTIMATING METHOD-

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