多関節型３次元ロボットティーチング装置に関する研究（第2報）

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書誌事項

タイトル別名
  • Study on Articulated type 3D Robot Teaching Machine (2nd Report)
  • タカンセツガタ 3ジゲン ロボットティーチング ソウチ ニ カンスル ケンキュウ 2 ゴサ ヨウイン ノ ブンセキ ト セイド カイゼン
  • —Analysis of measuring error and improvement the accuracy—
  • —誤差要因の分析と精度改善—

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抄録

An articulated type 3D robot teaching machine has been developed. This teaching machine has 6 degrees of freedom. It can produce the 3D coordinate data and orientation data of robot end effector. On the robot teaching task, easy operation and dexterity of the teaching machine is necessary to the teaching operator. The articulated type machine satisfies these requests but the accuracy is less than that of the Cartesian type machine, so the precise calibration is necessary to the articulated machine. On the 1st Report a calibration process was proposed but disregarded factor of error was found out. In this 2nd Report, we analyze the new factor of the measuring error and we have discovered the effect of the flexible coupling used in the teaching machine is very important. The measuring error of the teaching machine decreases about 1.0 mm to 1.3mm when the coupling is exchanged.

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