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Closed-force-loop elastostatic calibration of serial articulated robots
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Manufacturing and Metrology Systems Division)ORCID iD: 0000-0002-2376-4922
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Manufacturing and Metrology Systems Division)ORCID iD: 0000-0002-6989-2989
KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Machine and Process Technology. (Manufacturing and Metrology Systems Division)ORCID iD: 0000-0001-9185-4607
2019 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 57, p. 86-91Article in journal (Refereed) Published
Abstract [en]

This paper presents a novel methodology to measure the compliance of articulated serial robots based on the Elastically Linked Systems concept. The idea behind the methodology is to measure serial articulated robots with customized external wrench vectors under a closed-force-loop. The methodology proposes to measure robots in use-case defined configurations to increase the effect of the identified model parameters on their later implementation. The measurement methodology utilizes the Loaded Double Ball Bar to customize wrench vectors and a laser tracker to measure the system response. In particular, the Loaded Double Ball Bar creates the closed-force-loop to create a flow of forces similar to the intended application of the robot. The methodology is applied to an industrial robot with six rotary joints using the LDBB and a laser tracker. Finally, the paper ends on a discussion about the implementation of the model parameters to improve the accuracy of robots as well as challenges to realize a more cost efficient elastostatic calibration.

Place, publisher, year, edition, pages
2019. Vol. 57, p. 86-91
Keywords [en]
Industrial robot Compliance Closed-loop loaded testing
National Category
Mechanical Engineering
Research subject
Production Engineering
Identifiers
URN: urn:nbn:se:kth:diva-239611DOI: 10.1016/j.rcim.2018.07.007ISI: 000459525400007Scopus ID: 2-s2.0-85056879522OAI: oai:DiVA.org:kth-239611DiVA, id: diva2:1266384
Note

QC 20181210

Available from: 2018-11-27 Created: 2018-11-27 Last updated: 2019-10-10Bibliographically approved

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Archenti, Andreas

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Theissen, Nikolas AlexanderLaspas, TheodorosArchenti, Andreas
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