A Method to Correct Structural Errors in Articulated Robots

摘要

This paper describes a method to correct structural errors in articulated robots. Structural errors, caused by a deviation of the actual parameters from the designed parameters, occur due to errors during assembly. There are two types of errors which reduce the absolute positioning accuracy of robots; one is an arm length error and the other is an angle error between neighboring arms. The arm length error has been extensively researched and corrected, but a means for correction of the angle error has not been completed yet. In this paper, these two types of parameters and a new algorithm to correct all structural parametric errors are introduced. Using this method, we achieved absolute positioning accuracy 100 times as precise as the conventional method.