Geometrical calibration of a 6-axis robotic arm for high accuracy manufacturing task
- PDF / 6,900,588 Bytes
- 17 Pages / 595.224 x 790.955 pts Page_size
- 75 Downloads / 298 Views
ORIGINAL ARTICLE
Geometrical calibration of a 6-axis robotic arm for high accuracy manufacturing task Luca Lattanzi1
3 · Marcello Pellicciari1 ´ ´ · Cristina Cristalli2 · Daniele Massa2 · Sebastien Boria3 · Pierre Lepine
Received: 28 July 2020 / Accepted: 24 September 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract Robot geometrical calibration aims at reducing the global positioning accuracy of a robotic arm by correcting the theoretical values of the kinematic parameters. A novel method for the geometrical calibration of robotic arms used in industrial applications is proposed. The proposed approach mainly focuses on the final positional accuracy of the robotic tool center point (TCP) when executing an industrial task rather than on the accurate estimation of the kinematic parameters themselves, as done so far by many calibration methods widely discussed in literature. A real industrial use-case is presented, and the steps of the proposed calibration procedure for the robotic arm are described. Experimental methodology and results for the identification of geometrical parameters are also discussed. A practical validation of the final positional accuracy of the robotic arm (after kinematic calibration) was performed, and experimental results validated the proposed procedure, proving its feasibility and effectiveness in the considered industrial scenario. Keywords Positional accuracy · Kinematic calibration · Aircraft assembly · Laser tracker · Non-linear least square solver · Process capability indexes
1 Introduction Nowadays, current manufacturing processes require production resources able to quickly adapt and react to changes in the production environment, providing flexibility and more efficiency to the overall production process. Considering today’s highly competitive markets, mass customization of products, short time to market and product development performance improvements can be considered the main factors driving the development and adoption of production technologies. In particular, robotic systems are widely employed and exploited in modern industrial plants, representing very important elements in the production flow. The requirement for more flexibility and reconfigurability (especially at shop-floor level) has motivated research on novel
Luca Lattanzi
[email protected] 1
Universit`a degli Studi di Modena e Reggio Emilia, Via Amendola 2, 42122, Reggio Emilia, Italy
2
Loccioni Group, Via Fiume 16, 60030, Angeli di Rosora, Italy
3
Airbus SAS, 1 Rond Point Maurice Bellonte, 31700, Blagnac, France
robotic technologies (including their computer-aided programming and operation), aiming at improving efficiency and productivity of automated production lines [1]. In the specific case of industrial robotic systems, positioning accuracy and repeatability properties turn out to be fundamental attributes for the automatization of flexible manufacturing tasks [2]. The positional accuracy and repeatability of industrial robots can greatly change within the robot work
Data Loading...
