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Robotic Calibration using Kinematic Coupling
Mälardalen University, School of Innovation, Design and Engineering.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.

Place, publisher, year, edition, pages
2013.
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-21734OAI: oai:DiVA.org:mdh-21734DiVA: diva2:652395
Supervisors
Available from: 2013-12-20 Created: 2013-09-30 Last updated: 2015-01-05Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
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