Calibration and compensation to large-scale multi-robot motion platform using laser tracker

Abstract

When manufacturing large or super-large product, the use of multi-robot with motion platform becomes more and more popular. In the stage of equipment installation and adjustment, the relationship between the global coordinate system and the local coordinate systems must be acquire in order to control all the robot in a uniform coordinate system. In the same time, error compensation to motion platform must be done to improve precision of the manufacture equipment. Most methods in use do these work separately. By that way, more measuring work must be done and additional errors rise. In this paper, calibration of coordinate systems and error compensation to motion platform were done in the same time using laser tracker. The workload of measurement and stage producing new error decreased, efficiency and precision of calibration and compensation was improved.