The thesis deals with the optimal pose selection for geometric and elastostatic calibration for industrial robots employed in machining of large parts. Particular attention is paid to the improvement of robot positioning accuracy after compensation of the geometric and elastostatic errors. To meet the industrial requirements of machining operations, a new approach for calibration experiments design for serial and quasi-serial industrial robots is proposed. This approach is based on a new industry-oriented performance measure that evaluates the quality of calibration experiment plan via the manipulator positioning accuracy after error compensation, and takes into account the particularities of prescribed manufacturing task by introducing manipulator test-poses. Contrary to previous works, the developed approach employs an enhanced partial pose measurement method, which uses only direct position measurements from an external device and allows us to avoid the non-homogeneity of relevant identification equations. In order to consider the impact of gravity compensator that creates closed-loop chains, the conventional stiffness model is extended by including in it some configuration dependent elastostatic parameters, which are assumed to be constant for strictly serial robots. Corresponding methodology for calibration of the gravity compensator models is also proposed. The advantages of the developed calibration techniques are validated via experimental study, which deals with geometric and elastostatic calibration of a KUKA KR-270 industrial robot.
| Identifer | oai:union.ndltd.org:CCSD/oai:tel.archives-ouvertes.fr:tel-00983277 |
| Date | 15 January 2014 |
| Creators | Wu, Yier |
| Publisher | Ecole des Mines de Nantes |
| Source Sets | CCSD theses-EN-ligne, France |
| Language | English |
| Detected Language | English |
| Type | PhD thesis |
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