Off-line programming sysytem을 위한 로보트운동계의 calibration

Calibration of robot kinematics for the off-line programming system

  • 김문상 (한국괴학기술원 CAD/CAM연구실)
  • 발행 : 1988.10.01

초록

Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

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