Abstract:In this work theodolites are used to measure the systematic errors of articulated3-coordinate measuring device accurately,and the compensation is carried out.Atfirst unlinear errors between joint angles and the relevant encoder readings are deter-mined,and then real geometric parameters and joint encoder offsets are to be estim-ated.Thus compensation software can be developed.Our experiments shows thatthe improved measurement software almost eliminates all systematic errors.
[1] Payannet D,Aldon M J,Liegeois A,Identification and compensation of mechanical errors for industrial robots,In:Proc of 15th ISIR 1985:857-8fi4 [2] Sugimoto K,Okada T,Compensation of positioning errors gaused by geometric deviations in robot system,In:Proc of 2nd ISRR 1985:231-236 [3] Whitney D E,Lozinski C A,Rourke J M,Industrial robot forward calibration method and results,ASME(G)1986:1-8 [4] 张启先.空间机构的分析与设计.机械工业出版社,1984 [5] 机械委北京自动化所,华南工学院.工业机器人综合运动特性测量机精度分析及检定.1987