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Working vs. operating space kinematic calibration of articulated industrial manipulators
KTH, School of Industrial Engineering and Management (ITM), Production engineering, Manufacturing and Metrology Systems.ORCID iD: 0000-0002-2376-4922
KTH, School of Industrial Engineering and Management (ITM), Production engineering.ORCID iD: 0000-0002-8222-503x
KTH, School of Industrial Engineering and Management (ITM), Sustainable production development.ORCID iD: 0000-0001-9185-4607
Number of Authors: 32022 (English)In: European Society for Precision Engineering and Nanotechnology, Conference Proceedings: 22nd International Conference and Exhibition, EUSPEN 2022, euspen , 2022, p. 205-208Conference paper, Published paper (Refereed)
Abstract [en]

Kinematic calibration improves the positioning accuracy of articulated industrial manipulators. Industrial manipulators with kinematic calibration are more likely to be successfully offline programmed. Almost all manufacturers offer this calibration service. The calibration provided by the robot manufacturer is a working space calibration, which means that it guarantees a positioning accuracy for all possible configurations. This approach seems reasonable for an unknown target operation and if only a single set of model parameters can be stored in the robot controller. However, nowadays robot controllers can store more than one set of model parameters to reflect the significantly different orientations in which industrial manipulators can be mounted, e.g., floor-, wall, or ceiling-mounted. Thus, this work investigates the variability of the mean and maximum positioning accuracy of industrial manipulators in four different operating space calibrations and compares them with the working space calibration provided by the robot manufacturer. The article concludes with a discussion about potential improvements of existing kinematic calibration procedures.

Place, publisher, year, edition, pages
euspen , 2022. p. 205-208
Keywords [en]
Calibration, Performance, Robot
National Category
Robotics and automation Production Engineering, Human Work Science and Ergonomics
Identifiers
URN: urn:nbn:se:kth:diva-333480Scopus ID: 2-s2.0-85145581611OAI: oai:DiVA.org:kth-333480DiVA, id: diva2:1785332
Conference
22nd International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2022, Geneva, Switzerland, May 30 2022 - Jun 3 2022
Note

Part of ISBN 9781998999118

QC 20230802

Available from: 2023-08-02 Created: 2023-08-02 Last updated: 2025-02-05Bibliographically approved

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Theissen, Nikolas AlexanderGonzalez, MonicaArchenti, Andreas

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf