Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications
نویسندگان
چکیده
منابع مشابه
Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications
This paper proposes an original elasto-geometrical calibration method to improve the static pose accuracy of industrial robots involved in machining, forming or assembly applications. Two approaches are presented respectively based on an analytical parametric modeling and a Takagi-Sugeno fuzzy inference system. These are described and then discussed. This allows to list the main drawbacks and a...
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Robot Calibration: Modeling Measurement and Applications
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Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system’s stiffness and ...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2013
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2013.05.003