Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors

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dc.contributor.author OLABI, Adel
ensam.hal.laboratories
dc.contributor.author DAMAK, Mohamed
dc.contributor.author BEAREE, Richard
ensam.hal.laboratories
dc.contributor.author GIBARU, Olivier
ensam.hal.laboratories
dc.contributor.author LELEU, Stéphane
ensam.hal.laboratories
dc.date.accessioned 2014-02-04T09:59:39Z
dc.date.available 2014-02-04T09:59:39Z
dc.date.issued 2013-01-17
dc.date.submitted 2014-02-01T14:17:36Z
dc.identifier.uri http://hdl.handle.net/10985/7745
dc.description.abstract The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant error of position in the level of the end-effector.
This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally.
en_US
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.rights Post-print en_US
dc.subject Robotic en_US
dc.subject Offline compensation en_US
dc.title Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors en_US
ensam.hal.id hal-00941720 *
ensam.hal.status accept *
dc.typdoc Communications avec actes en_US
dc.localisation Centre de Lille en_US
dc.subject.hal Sciences de l'ingénieur: Automatique / Robotique en_US
ensam.workflow.submissionConsumer updateMetadata *
ensam.audience Internationale en_US
ensam.conference.title IEEE International Conference on Industrial Technology (2012) en_US
ensam.conference.date 2012-03-19
ensam.country Greece en_US
ensam.title.proceeding IEEE International Conference on Industrial Technology (2012) en_US
ensam.page ? en_US
ensam.hal.faultCode Metadatas are not valid : {"meta":{"city":{"isEmpty":"Vous devez remplir ce champ"}}}

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