Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
SCREW KINEMATIC MODEL FOR ROBOT CALIBRATION WITH PC-ROBOT COMMUNICATION OVERVIEW
Submission Author:
Lucas Kato , SC
Co-Authors:
Lucas Kato, Tiago Pinto, Henrique Simas, Daniel Martins
Presenter: Daniel Martins
doi://10.26678/ABCM.COBEM2017.COB17-0355
Abstract
This paper presents an alternative way to represent a serial robot kinematic model with screw theory and its calibration, considering joint and link offsets. To calibrate an industrial robot a set of procedures is proposed: performance evaluation before and after calibration, model definition, kinematic parameter estimation, and correction. Moreover, a pc-robot communication is implemented to reduce robot path programming and measurements time-consuming.
Keywords
robot calibration, screw theory, robot clearances
