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dc.contributor.authorOLABI, Adel
dc.contributor.authorDAMAK, Mohamed
dc.contributor.authorBEAREE, Richard
dc.contributor.authorGIBARU, Olivier
dc.contributor.authorLELEU, Stéphane
dc.date.accessioned2014
dc.date.available2014
dc.date.issued2013
dc.date.submitted2014
dc.identifier.urihttp://hdl.handle.net/10985/7745
dc.description.abstractThe 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.isoen
dc.publisherIEEE
dc.rightsPost-print
dc.subjectRobotic
dc.subjectOffline compensation
dc.titleImproving the Accuracy of Industrial Robots by offline Compensation of Joints Errors
dc.typdocCommunications avec actes
dc.localisationCentre de Lille
dc.subject.halSciences de l'ingénieur: Automatique / Robotique
ensam.audienceInternationale
ensam.conference.titleIEEE International Conference on Industrial Technology (2012)
ensam.conference.date2012-03-19
ensam.countryGreece
ensam.title.proceedingIEEE International Conference on Industrial Technology (2012)
ensam.page?
hal.description.errorMetadatas are not valid : {"meta":{"city":{"isEmpty":"Vous devez remplir ce champ"}}}
hal.identifierhal-00941720
hal.version1
hal.submission.permittedupdateMetadata


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