INDIAN INSTITUTE OF TECHNOLOGY MADRAS

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2 Νοε 2013 (πριν από 3 χρόνια και 7 μήνες)

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INDIAN INSTITUTE OF TECHNOLOGY MADRAS

Department of Engineering Design

ROBOTICS LABORATORY

Researchers : K Neelakanthu , Dr. Asokan Thondiyath, Prof M Singaperumal

Performance enhancement of Industrial robots using calibration data

SCARA arm calibration setup

Offline

programming

of

industrial

robots

is

often

performed

using

virtual

tools

to

reduce

the

robot

downtime
.

However,

poor

agreement

of

actual

robot

dynamics

with

the

dynamic

models

used

for

simulation

leads

to

poor

programming

of

the

robots

and

hence

additional

cost

to

the

industry
.

Traditional

robot

dynamic

models

consist

of

parameters

such

as

DH

parameters,

damping

and

stiffness

parameters,

inertia

of

various

links

and

joints,

and

friction

parameters
.

Over

a

period

of

time,

these

parameters

vary

significantly

and

the

original

dynamic

model

will

be

no

more

valid

and

it

is

necessary

to

estimate

these

values

to

refine

the

robot

model
.

Robot

calibration

data

is

used

here

to

estimate

the

values

of

these

parameters
.


Totally

13

parameters

were

estimated

numerically

at

each

joint

and

these

parameters

along

with

DH

parameters,

link

inertia

and

mass

form

the

new

complete

dynamic

models

were

used

for

refining

the

dynamic

model

of

the

robot
.

Robot

simulations

using

the

refined

model

have

shown

high

correlation

with

the

actual

robot

performance
.

A

laser

tracker

system

with

a

pose

accuracy

of

100

nanometers

is

used

to

measure

and

estimate

robot’s

3
D

Cartesian

path,

velocity,

and

acceleration

characteristics
.

Robot

is

commanded

to

move

through

programmed

motion

trajectories

and

the

actual

trajectories

are

recorded

using

the

tracker

system
.

The

experimental

data

is

then

compared

with

the

commanded

data

to

extract

dynamic

parameters

for

further

analysis
.

Assessment

of

parameters

was

carried

out

through

rigorous

mathematical

analysis

SCARA arm model with calibration
data

SCARA arm prototype

Laser tracker system for
calibration

Dynamic response of models in joint space