冗長自由度ティーチングロボットの機構誤差解析と校正
1994 年 60 巻 4 号 p. 544-548
詳細
1994 年 60 巻 4 号 p. 544-548
A teaching robot has been developed for the purpose of sophisticated teaching operations, such as to input technical skill of artist or artisan when machining industrial art objects. To realize easy operation, the teaching robot is constructed with a seven D.O.F. articulated mechanism and a two D.O.F. working table, in total has nine D.O.F. To improve teaching accuracy, error analysis and calibration for all geometric parameters are performed. As the results of experiments, an accuracy of 0.75mm(±3σ) by the teaching robot has been obtained. In this paper, error analysis of the teaching robot and geometric error model of it are discussed. Calibration algorithm and accuracy estimation are described also. Finally, an example of teaching and playback is shown.
