Methods of identification of geometrical data in robot kinematics

✍ Scribed by G. Duelen; U. Kirchhoff; J. Held

• Publisher: Elsevier Science
• Year: 1988
• Tongue: English
• Weight: 373 KB
• Volume: 4
• Category: Article
• ISSN: 0736-5845
• DOI: 10.1016/0736-5845(88)90075-0

✦ Synopsis

In order for industrial robots to acheive high trajectory accuracy and absolute position accuracy, exact definitions of the machine data required for coordinate transformation, e.g. the data for the reference points and the robot-geometry data, are needed. Error analysis has proven that the data to be found are exact enough to meet rigorous requirements. In the following basic procedural and measuring methods for an automatic definition of the kinematic data are discussed.