Theoretical and practical aspects of robot calibration with experimental verification
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Data de Publicação: | 2011 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | por |
Título da fonte: | Repositório Institucional da UnB |
Texto Completo: | http://repositorio.unb.br/handle/10482/11310 http://dx.doi.org/10.1590/S1678-58782011000100003 |
Resumo: | One of the greatest challenges in today's industrial robotics is the development of off-line programming systems that allow drastic reduction in robots' reprogramming time, improving productivity. The article purpose is to pave the way to the construction of generic calibration systems easily adapted to any type of robot, regardless their application, such as modular robots and robot controllers specifically designed for non-standard applications. A computer system was built for developing and implementing a calibration system that involves the joint work of computer and measurement systems. Each step of this system's development is presented together with its theoretical basis. With the development of a remote maneuvering system based on ABB S3 controller experimental tests have been carried out using an IRB2000 robot and a measurement arm (ITG ROMER) with 0.087 mm of position measurement accuracy. The robot model used by its controller was identified and the robot was calibrated and evaluated in different workspaces resulting in an average accuracy improvement from 1.5 mm to 0.3 mm. |
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Theoretical and practical aspects of robot calibration with experimental verificationCalibraçãoCinemática das máquinasRobóticaOne of the greatest challenges in today's industrial robotics is the development of off-line programming systems that allow drastic reduction in robots' reprogramming time, improving productivity. The article purpose is to pave the way to the construction of generic calibration systems easily adapted to any type of robot, regardless their application, such as modular robots and robot controllers specifically designed for non-standard applications. A computer system was built for developing and implementing a calibration system that involves the joint work of computer and measurement systems. Each step of this system's development is presented together with its theoretical basis. With the development of a remote maneuvering system based on ABB S3 controller experimental tests have been carried out using an IRB2000 robot and a measurement arm (ITG ROMER) with 0.087 mm of position measurement accuracy. The robot model used by its controller was identified and the robot was calibrated and evaluated in different workspaces resulting in an average accuracy improvement from 1.5 mm to 0.3 mm.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2012-10-01T17:50:10Z2012-10-01T17:50:10Z2011-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfGINANI, Luciano Selva; MOTTA, José Maurício Santos Torres da. Theoretical and practical aspects of robot calibration with experimental verification, Rio de Janeiro, v. 33, n. 1, jan./mar. 2011. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782011000100003&lng=pt&nrm=iso>. Acesso em: 26 set. 2012.http://repositorio.unb.br/handle/10482/11310http://dx.doi.org/10.1590/S1678-58782011000100003The Brazilian Society of Mechanical Sciences and Engineering - Todo o conteúdo deste periódico, exceto onde está identificado, está licenciado sob uma Licença Creative Commons (Attribution-NonCommercial 3.0 Unported (CC BY-NC 3.0)). Fonte: http://www.scielo.br/scielo.php?script=sci_serial&pid=1678-5878&lng=pt&nrm=iso. acesso em: 26 set. 2012.info:eu-repo/semantics/openAccessGinani, Luciano SelvaMotta, José Maurício Santos Torres daporreponame:Repositório Institucional da UnBinstname:Universidade de Brasília (UnB)instacron:UNB2023-05-24T23:21:41Zoai:repositorio.unb.br:10482/11310Repositório InstitucionalPUBhttps://repositorio.unb.br/oai/requestrepositorio@unb.bropendoar:2023-05-24T23:21:41Repositório Institucional da UnB - Universidade de Brasília (UnB)false |
dc.title.none.fl_str_mv |
Theoretical and practical aspects of robot calibration with experimental verification |
title |
Theoretical and practical aspects of robot calibration with experimental verification |
spellingShingle |
Theoretical and practical aspects of robot calibration with experimental verification Ginani, Luciano Selva Calibração Cinemática das máquinas Robótica |
title_short |
Theoretical and practical aspects of robot calibration with experimental verification |
title_full |
Theoretical and practical aspects of robot calibration with experimental verification |
title_fullStr |
Theoretical and practical aspects of robot calibration with experimental verification |
title_full_unstemmed |
Theoretical and practical aspects of robot calibration with experimental verification |
title_sort |
Theoretical and practical aspects of robot calibration with experimental verification |
author |
Ginani, Luciano Selva |
author_facet |
Ginani, Luciano Selva Motta, José Maurício Santos Torres da |
author_role |
author |
author2 |
Motta, José Maurício Santos Torres da |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Ginani, Luciano Selva Motta, José Maurício Santos Torres da |
dc.subject.por.fl_str_mv |
Calibração Cinemática das máquinas Robótica |
topic |
Calibração Cinemática das máquinas Robótica |
description |
One of the greatest challenges in today's industrial robotics is the development of off-line programming systems that allow drastic reduction in robots' reprogramming time, improving productivity. The article purpose is to pave the way to the construction of generic calibration systems easily adapted to any type of robot, regardless their application, such as modular robots and robot controllers specifically designed for non-standard applications. A computer system was built for developing and implementing a calibration system that involves the joint work of computer and measurement systems. Each step of this system's development is presented together with its theoretical basis. With the development of a remote maneuvering system based on ABB S3 controller experimental tests have been carried out using an IRB2000 robot and a measurement arm (ITG ROMER) with 0.087 mm of position measurement accuracy. The robot model used by its controller was identified and the robot was calibrated and evaluated in different workspaces resulting in an average accuracy improvement from 1.5 mm to 0.3 mm. |
publishDate |
2011 |
dc.date.none.fl_str_mv |
2011-01 2012-10-01T17:50:10Z 2012-10-01T17:50:10Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
GINANI, Luciano Selva; MOTTA, José Maurício Santos Torres da. Theoretical and practical aspects of robot calibration with experimental verification, Rio de Janeiro, v. 33, n. 1, jan./mar. 2011. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782011000100003&lng=pt&nrm=iso>. Acesso em: 26 set. 2012. http://repositorio.unb.br/handle/10482/11310 http://dx.doi.org/10.1590/S1678-58782011000100003 |
identifier_str_mv |
GINANI, Luciano Selva; MOTTA, José Maurício Santos Torres da. Theoretical and practical aspects of robot calibration with experimental verification, Rio de Janeiro, v. 33, n. 1, jan./mar. 2011. Disponível em: <http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782011000100003&lng=pt&nrm=iso>. Acesso em: 26 set. 2012. |
url |
http://repositorio.unb.br/handle/10482/11310 http://dx.doi.org/10.1590/S1678-58782011000100003 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM |
publisher.none.fl_str_mv |
Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM |
dc.source.none.fl_str_mv |
reponame:Repositório Institucional da UnB instname:Universidade de Brasília (UnB) instacron:UNB |
instname_str |
Universidade de Brasília (UnB) |
instacron_str |
UNB |
institution |
UNB |
reponame_str |
Repositório Institucional da UnB |
collection |
Repositório Institucional da UnB |
repository.name.fl_str_mv |
Repositório Institucional da UnB - Universidade de Brasília (UnB) |
repository.mail.fl_str_mv |
repositorio@unb.br |
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1810580750054981632 |