Host: The Institute of Systems, Control and Information Engineers
Name : 2018 International Symposium of Flexible Automation
Location : Kanazawa Chamber of Commerce and Industry, Kanazawa Japan
Date : July 15, 2018 - July 19, 2018
Pages 209-216
Improving robot accuracy is important for many industrial applications. Laser trackers and retroreflectors are often used to collect measurements for error model identification. Typically, retroreflectors are attached to the robot end effector, collecting position information. To determine orientation information, each robot pose must be measured multiple times, where the retroreflectors are located at a different position on the end effector for each measurement. Fixturing and measurement errors are introduced each time, thus affecting model accuracy and increasing measurement time. In this paper, a new retroreflector, named the SmartTRACK Sensor (STS), is used. This retroreflector can simultaneously measure both position and orientation information. Methodologies for the modeling, identification and compensation of robot kinematic errors are proposed. In the experiments conducted on a FANUC LR Mate 200 i robot, the mean residuals for the actual and modeled positions, respectively, are 4.559 to 0.076 mm, thus, a 98% reduction in geometric error was realized.
