Angular errors in the robot axes can make a significant contribution to robot positioning accuracy. This paper seeks to propose a new measuring method for measuring angular errors.
Abstract
Purpose
Angular errors in the robot axes can make a significant contribution to robot positioning accuracy. This paper seeks to propose a new measuring method for measuring angular errors.
Design/methodology/approach
New techniques were devised for the detailed investigation of joint angular errors using a reference encoder together with a precision electronic level and autocollimator. This equipment enabled vertical and horizontally orientated joint axes to be measured with the robot located on‐site. Circle contouring measurements were also undertaken to assess the significance of multi‐axis movements on the accuracy of the end effector.
Findings
The technique, devised using a simulation program for the robot geometry with results from a circular test, enables robot errors to be characterised in terms of datum location error, backlash, gear transmission error, axes misalignments and joint encoder offset.
Originality/value
The paper describes the experimental and theoretical accuracy characteristics of an articulated industrial robot. Close correlation was obtained between the experimental and theoretical results. This paper offers the practical robot calibration method for industrial application.
Details
Keywords
Seungbin B. Moon, Sung‐Ho Hwang, Woong‐Hee Shon, Ho‐Gil Lee and Yeon Taek Oh
Steel beam welding at a construction site is challenging due to the increasing thickness of steel members in today's buildings. In order to achieve high quality welding and…
Abstract
Steel beam welding at a construction site is challenging due to the increasing thickness of steel members in today's buildings. In order to achieve high quality welding and resolve the problem caused by the shortage of skilled welders, robotic systems are in high demand. We have proposed a practical robotic system for steel beam welding, specifically designed for working on H‐shaped column structures that are known to be the most difficult structures for automation.