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

Communication avec acte
Author
DAMAK, Mohamed
LELEU, Stéphane
ccOLABI, Adel
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
ccBEAREE, Richard
ccGIBARU, Olivier

URI
http://hdl.handle.net/10985/7745
Date
2013

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.

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