Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Robotic Workplace Calibration Using Teaching Data of Work-Piece Fixed in Robotic Workplace for Robot Off-line Programming

로봇 오프라인 프로그래밍을 위한 작업장에 고정된 공작물 교시 정보를 이용한 로봇작업장 보정

  • Jeong, Jun Ho (Department of Control and Instrumentation Engineering and ERI, Gyeong-sang National Univ.) ;
  • Kuk, Kum Hoan (Department of Control and Instrumentation Engineering and ERI, Gyeong-sang National Univ.)
  • 정준효 (경상대학교 제어계측공학과) ;
  • 국금환 (경상대학교 제어계측공학과)
  • Received : 2012.10.05
  • Accepted : 2013.04.09
  • Published : 2013.06.01
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Abstract

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

Keywords

References

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