回転角法による水平多関節型ロボットの校正

抄録

A calibration method using rotation angle is proposed for calibrating horizontally articulated robots. An arbitrarily chosen robot axis is rotated with an arbitrarily given rotation angle. The start and end points of the corresponding motion of the robot tool's axes are measured. Calibration is performed based only on the rotation angles and measured points. Horizontally articulated robots, such as SCARA type robots, can then be calibrated automatically without any teaching operation. Simulation was performed to compare analytically the proposed method with the three points and the four points calibration methods. The simulation chooses a rectangular area where each of the above methods is tested to obtain a measure of error between the theoretical and experimental values (arm lengths, initial angles and robot origin). The results show that the rotation angle method produces a smaller error. Also, it was observed that the proposed method converges faster to the theoretical values compared with the three points and the four points method.