書誌事項
- タイトル別名
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- Calibration of SCARA Robot Dimensions by Teaching
- SCARA ロボット ショゲン ノ ティーチング ニヨル コウセイ
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説明
On an industrial robot positioning accuracy is important factor but there is not the standard method of calibration for robot dimensions that influence the positioning accuracy. This paper presents the calibration methods of SCARA type robot which has two linked arms move in plane. For calibration of robot dimensions, three points calibration method and four points calibration method have been developed. These methods are available for every SCARA type robots. On these methods robot dimensions are calibrated accurately by teaching function of robot with simple measuring instruments of robot tool point. In this paper a digitizer is used. The accuracy is almost equal to that of measuring instrument. The fact is verified in experimental results, and the accuracy of measured arm length is ±0.1 mm, that is the accuracy of digitizer used for calibration. These methods are based on the vector expression of robot model, so similar calibration method is available for the other type robot.
収録刊行物
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- 精密機械
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精密機械 49 (9), 1223-1228, 1983
公益社団法人 精密工学会
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詳細情報 詳細情報について
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- CRID
- 1390001204731166336
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- NII論文ID
- 130003962172
- 110001291693
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- NII書誌ID
- AN00130014
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- NDL書誌ID
- 2604119
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- ISSN
- 03743543
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
