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Robotic Calibration using Kinematic Coupling
Mälardalens högskola, Akademin för innovation, design och teknik.
2013 (Engelska)Självständigt arbete på avancerad nivå (masterexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
Abstract [en]

Industrial robot calibration is a very important tool when extra precision and repeata- bility is required, also to make it possible to change robot without reprogramming. The difference between the virtual robot and the real robot can be as much as 8-15mm [1]. Presently used methods for calibration are both expensive and time-consuming. This the- sis will test a method of calibration that is simple and cheap, using kinematic coupling. The repeatability of the calibration and improvements to the method have been investi- gated, as well as the impact of lost-space motion at different positions of the robot. The thesis shows that the precision of the robot when coupling is better than ±0.05mm. A problem with backlash in a gearbox was solved using statistical method and by adding an external force affecting the coupling. Also a simulation of the coupling is developed to more easily identify errors in any axis.

Ort, förlag, år, upplaga, sidor
2013.
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:mdh:diva-21734OAI: oai:DiVA.org:mdh-21734DiVA, id: diva2:652395
Handledare
Tillgänglig från: 2013-12-20 Skapad: 2013-09-30 Senast uppdaterad: 2015-01-05Bibliografiskt granskad

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Akademin för innovation, design och teknik
Robotteknik och automation

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