Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
KINEMATIC CALIBRATION OF A 6-D.O.F. MANIPULATOR USING A MODEL OPTIMIZATION ROUTINE
Submission Author:
José Maurício Santos Torres da Motta , DF , Brazil
Co-Authors:
Patrícia da Silva Oliveira, José Maurício Santos Torres da Motta
Presenter: Patrícia da Silva Oliveira
doi://10.26678/ABCM.COBEM2019.COB2019-1071
Abstract
The use of robots in different manufacturing processes, as well as the use of offline programming in the manipulators, aiming to maximize their working time, have gradually increased. However, the success of offline programming is directly related to the good robot repeatability and accuracy, and the values of the latter factor are usually worse than the first. A viable and inexpensive way that can improve the accuracy of manipulators is the robot calibration, which can be statically or dynamically. Since geometric errors correspond to about 90% of all robot errors, the static calibration process is the most used. Thus, this article aims to investigate some theoretical aspects of robot calibration using parametric error modeling, performing a computational simulation of the calibration process of an ABB IRB-140 six degrees of freedom manipulator. For this, kinematic modeling was first performed, followed by parameter identification and a routine for parameter model optimization. Among the results obtained, an optimized model with 24 parameters was obtained, free of deficiencies and redundancies. In addition, it was also observed that a set with more than 40 points provides an irrelevant improvement in calibration accuracy.
Keywords
robot calibration, model parameter optimization, accuracy improvement, parameter redundancies, numerical improvement
