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Calibration Applied to Quality Control and Maintenance in Robot Production

Objective

Within this project, calibration tools for robot quality control and maintenance were to be developed and tested.
The objective of this project is to develop and test calibration tools for robot quality control and maintenance. High precision is required for advanced robotic applications, and this concerns, in particular, absolute accuracy in the positioning of robots so that offline programming techniques can be used. Absolute positioning accuracy depends on the quality of the manufactured robot and the accuracy of robot model used for motion control. To ensure quality manufacturing and to identify robot model parameters accurately, advanced measuring procedures and model based parameter identification methods are required. These procedures and methods make up the techniques called robot calibration. Robot calibration can be described as a technique for modelling, measuring the identifying the characteristics of a serial linked mechanism. An industrial robot calibration system which consists of automated procedures and equipment which do not require a technical knowledge of calibration theory for their use is now in the advanced stages of development.
The procedures and equipment include automatic generation of an internally used robot model, automatic generation of optimized measurement positions for calibration, measuring systems for high precision robot measurements, identification and verification of robot model parameters, a data acquisition and management system, and an expert system to evaluate the measured data. The results of calibration are a set of identified robot model parameters which can be used by the robot manufacturer as a check on the quality of robot production and by the robot user to improve the robot's absolute positioning accuracy.
High precision is required for robot calibration, and this concerns, in particular, absolute accuracy in the positioning of robots so that off-line programming techniques can be used. Absolute positioning accuracy depends on the quality of the manufactured robot and the accuracy of the robot model used for motion control. To ensure quality manufacturing and to accurately identify robot model parameters, advanced measuring procedures and model-based parameter identification methods are required. These procedures and methods make up the techniques called "robot calibration".

Robot calibration can be described as a technique for modelling, measuring and identifying the characteristics of a serial linked development. An industrial robot calibration system which consists of automated procedures and equipment which do not require a technical knowledge of calibration theory for their use is now in the advanced stages of development.

The results of accuracy are a set of identified robot model parameters which can be used by the robot manufacturer as a check on the quality of robot production and by the robot user to improve the robot's absolute positioning accuracy.

Coordinator

Fraunhofer-Gesellschaft zur Förderung der Angewandten Forschung eV (FhG)
Address
Pascalstraße 8-9
10587 Berlin
Germany

Participants (4)

KUKA Schweißanlagen und Roboter GmbH
Germany
Address
Blücherstraße 144
86165 Augsburg
Leica
United Kingdom
Address
Davy Avenue
MK5 8LB Milton Keynes
TAIGHDECLAR GENESIS TEORANTA
Ireland
Address
An Muileann,an Spideal
Co Galway
UNIVERSITEIT VAN AMSTERDAM
Netherlands
Address
Kruislaan, 403
1098 SJ Amsterdam