Titlebook: Error Compensation for Industrial Robots; Wenhe Liao,Bo Li,Pengcheng Li Book 2023 Science Press 2023 Accuracy Enhancement.Calibration Tech

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Alexander D. Rhys,Susana A. GodinhoThe offline calibration methods introduced in the previous chapters achieve the error compensation of the robot with strong versatility and practicability.

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https://doi.org/10.1007/978-0-585-37971-5In this chapter, the robotic milling is investigated with the error compensation methods proposed in this book.

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IntroductionCurrently, as production resources are desired to be capable of rapidly reacting to variations in the market environment.

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Kinematic ModelingGenerally, an industrial robot is a chain mechanism connected by links and joints in series, whose base is mounted on a fixed or mobile platform.

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Positioning Error Compensation Using Kinematic CalibrationStudies have shown that the positioning error caused by geometric errors contributes up to more than 80% of the total error, hence geometric errors are the primary factor that needs to be focused on for robot kinematic calibration.

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Error-Similarity-Based Positioning Error CompensationThe kinematic error model is described in Chap. ., and the robot error compensation using the kinematic calibration is conducted in Chap. ..

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Joint Space Closed-Loop FeedbackThe offline calibration methods introduced in the previous chapters achieve the error compensation of the robot with strong versatility and practicability.

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