Calibration of a Serial  Robot Using a  Laser Tracker: Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker

Calibration of a Serial Robot Using a Laser Tracker: Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker

von Albert Nubiola
Taschenbuch - 9783659155932
59,00 €
  • Versandkostenfrei
  • Hinweis: Print on Demand. Lieferbar innerhalb von 7 bis 10 Tagen
  • inkl. MwSt. & Versandkosten (innerhalb Deutschlands)
  • Hinweis: Print on Demand. Lieferbar innerhalb von 7 bis 10 Tagen
  • inkl. MwSt. & Versandkosten (innerhalb Deutschlands)

Autorenfreundlich Bücher kaufen?!

Beschreibung

The positioning performance of the industrial robot ABB IRB 1600-6/1.45 is deeply studied with a Faro ION laser tracker. Axes 2, 3 and 6 are found to have a non-geometrical behaviour. Different robot models are taken into account for calibration. The level-3 model takes into account the geometrical defaults as well as four error parameters related to stiffness in axes 2 and 3, plus four other error parameters used to fit a second-order Fourier series to the non-linearity of axis 6. The Nelder-Mead technique is used to find the error parameters of the model. The ISO 9283 tests are found to be not complete enough to validate the position performance of the robot. An extensive validation procedure is applied in addition to the ISO 9283 tests. Several tests are also applied to the Faro laser tracker to validate its precision, repeatability and stability. Repeatability tests and stabilization tests are also performed to the calibrated robot. Finally, circular tests are applied with a Renishaw QC20-W telescopic bar to validate the improvement of the robot's accuracy.

Details

Verlag LAP Lambert Academic Publishing
Ersterscheinung Juli 2012
Maße 221 mm x 154 mm x 13 mm
Gewicht 260 Gramm
Format Taschenbuch
ISBN-13 9783659155932
Auflage Nicht bekannt
Seiten 160

Schlagwörter