روش کالیبراسیون کینماتیک برای روبات صنعتی با استفاده از اندازه گیری مستقل دیداری

Several new methods have been developed to achieve practical accuracy for offline programming of robots and its applicability to the real world. In this paper, a new kinematic calibration method is proposed to automatically improve absolute positioning accuracy of robots. Key points of the method include autonomous measurement and the automatic generation of measuring poses. A new visual feedback motion control method of the robot is proposed to achieve accurate measurement. An algorithm is also proposed to improve the condition of measuring poses automatically. The effectiveness of the proposed methods and algorithm was investigated through experiments with actual robots.

Offline teaching is now being recognized as a necessity to shorten start-up time of industrial robot systems, and to thus, grow industrial robot applications. It is also well known that, improving absolute positioning accuracy of a robot, and improving detection accuracy of the location of workpieces in a matter of minutes are two very challenging hurdles to putting offline teaching into practical use. The authors have previously developed workpiece position detection methods using autonomous visual measurement in robotic cells [1]. Currently, the improvement of absolute positioning accuracy of an industrial robot with serial mechanisms by kinematic calibration is being studied intensively