MODEL BASED ROBOT CALIBRATION TECHNIQUE WITH CONSIDERATION OF JOINT COMPLIANCE

摘要

Robot accuracy plays an important role for robot based application in advanced industry. Especially, robot accuracy decreases because of structural deformation when robot carries heavy load. Identification of physical robot parameters improves its accuracy by updating robot model parameters which are used in robot controller. This research presents identification technique of robot geometric parameters and its joint deformation joint angle. The target of the paper is comparison of two cases 1) only geometric calibration and 2) geometric and joint deformation angles calibration. Simulation calibration is performed on a Hyundai 800 robot which is designed for carrying heavy loads. The robot position accuracy after calibration demonstrates the effectiveness and correctness of the method.