Рет қаралды 8,166
Robot calibration is the process of identifying the parameters of a new theoretical model that represents more accurately the relationship between the joint values and the pose of the end-effector. Typically, in the first step of this process, a laser tracker is used to measure the positon of the end-effector in a number of robot configurations. Laser trackers are, however, very expensive. In this work, we have developed a new wireless low-cost 3D measurement device composed mainly of three digital indicators. Then, we mount the device on the robot's flange and constraint in automatically to three well-known positions (three precision spheres) with various end-effector orientations. We have demonstrated that in the case of an ABB IRB 120 robot, we are able to nearly match the performance of a laser tracker when it comes to improving the accuracy of the robot.