Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors
| dc.contributor.author | DAMAK, Mohamed |
| dc.contributor.author | LELEU, Stéphane |
| dc.contributor.author
hal.structure.identifier | OLABI, Adel
|
| dc.contributor.author | BEAREE, Richard |
| dc.contributor.author | GIBARU, Olivier |
| dc.date.accessioned | 2014 |
| dc.date.available | 2014 |
| dc.date.issued | 2013 |
| dc.date.submitted | 2014 |
| 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. |
| dc.language.iso | en |
| dc.publisher | IEEE |
| dc.rights | Post-print |
| dc.subject | Robotic |
| dc.subject | Offline compensation |
| dc.title | Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors |
| dc.typdoc | Communication avec acte |
| dc.localisation | Centre de Lille |
| dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
| ensam.audience | Internationale |
| ensam.conference.title | IEEE International Conference on Industrial Technology (2012) |
| ensam.conference.date | 2012-03-19 |
| ensam.country | Greece |
| ensam.title.proceeding | IEEE International Conference on Industrial Technology (2012) |
| ensam.page | ? |
| hal.description.error | Metadatas are not valid : {"meta":{"city":{"isEmpty":"Vous devez remplir ce champ"}}} |
| hal.identifier | hal-00941720 |
| hal.version | 1 |
| hal.submission.permitted | updateMetadata |
| hal.status | accept |
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Article dans une revue avec comité de lecture;
OLABI, Adel; BEAREE, Richard; GIBARU, Olivier (Elsevier, 2010)
Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall ... -
Communication avec acte;OLABI, Adel; BEAREE, Richard; GIBARU, Olivier (2014)
This paper is concerned with preliminaries results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and ...
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Article dans une revue avec comité de lectureOLABI, Adel; BEAREE, Richard (Elsevier, 2013)
Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual ...
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Communication avec acte;OLABI, Adel; BEAREE, Richard (Elsevier BV, 2017)
In this work, redundancy resolution has been employed to increase the Cartesian mechanical rigidity of 7 DOF robot manipulators during tasks requiring stiff interactions with the environment (e.g. milling or drilling). The ...
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Communication avec acte; ; ;BEAREE, Richard; GIBARU, Olivier (IMAACA, 2011)
This article address the identification problem of the natural frequency and the damping ratio of a second order continuous system where the input is a sinusoidal signal. An algebra based approach for identifying parameters ...
