Measurement Method of Positioning Accuracy for SCARA Robot.
نویسندگان
چکیده
منابع مشابه
Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy
Industrial robot manipulators are important components of most automated manufacturing systems. Their design and applications rely on modeling, analyzing, and programming the robot tool-center-point (TCP) positions with the best accuracy. Industrial practice shows that creating accurate robot TCP positions for robot applications such as welding, material handling, and inspection is a critical t...
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This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...
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In this paper we propose a new algorithm for the kinetostatic calibration of a robot based on contact force measurement. The proposed calibration methodology, called kinetostatic calibration, does not require the use of a sensor to measure the robot pose, avoiding all problems related to the use of external devices for this measurement. On the contrary, the robot gripper must be equipped with a...
متن کاملOn the dynamics of SCARA robot
Padhy, S.K., On the dynamics of SCARA robot, Robotics and Autonomous Systems, 10 (1992) 71-78. Assembly automation using robots has proven to be very successful. It has been shown that use of robots improves the accuracy of assembly, and saves assembly time and cost as well. SCARA (Selective Compliance Assembly Robot Arm) type robots have been widely used in industry for assembly operations in ...
متن کاملDynamic Balancing of the SCARA Robot
This paper deals with the complete shaking force and shaking moment balancing of the four degrees of freedom SCARA robot. Dynamic reaction forces on the frame of the manipulator are eliminated by traditional approach making the total mass center of the moving links stationary. Reaction moments on the frame of the manipulator are eliminated by optimal control of the end-effector, which rotates w...
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ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 1995
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.61.85