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http://dx.doi.org/10.5302/J.ICROS.2008.14.4.406

Robot Calibration with Joint Stiffness Parameters for the Enhanced Positioning Accuracy  

Kang, Hee-Jun (울산대학교 전기전자정보시스템공학부)
Shin, Sung-Won (울산대학교 전기전자정보시스템공학부)
Ro, Young-Shick (울산대학교 전기전자정보시스템공학부)
Suh, Young-Soo (울산대학교 전기전자정보시스템공학부)
Lim, Hyun-Kyu (현대중공업 기술개발본부 기계전기연구소)
Kim, Dong-Hyeok (현대중공업 기술개발본부 기계전기연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.4, 2008 , pp. 406-410 More about this Journal
Abstract
This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.
Keywords
positioning accuracy; kinematic calibration; non-kinematic calibration; joint stiffness parameter;
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