Calibration Applied to Quality Control and Maintenance in Robot Production


CAR - 5220

Keywords calibration, robotics, quality control


Start Date: 01-DEC-90 / Duration: 40 months

[ contact / participants ]


Objectives and Approach

Within this project, calibration tools for robot quality control and maintenance have been developed and tested.

High precision is required for robot calibration, and this concerns, in particular, absolute accuracy in the positioning of robots so that off-line programming techniques can be used. Absolute positioning accuracy depends on the quality of the manufactured robot and the accuracy of the robot model used for motion control. To ensure quality manufacturing and to accurately identify robot model parameters, advanced measuring procedures and model-based parameter identification methods are required. These procedures and methods make up the techniques called "robot calibration".

Robot calibration can be described as a technique for modelling, measuring and identifying the characteristics of a serial linked development. An industrial robot calibration system which consists of automated procedures and equipment which do not require a technical knowledge of calibration theory for their use is now in the advanced stages of development.

The following methods, procedures and equipment have been developed:

The results of accuracy are a set of identified robot model parameters which can be used by the robot manufacturer as a check on the quality of robot production and by the robot user to improve the robot's absolute positioning accuracy.


CONTACT POINT

Dr Klaus Schröer
FRAUNHOFER-IPK
Pascalstr. 8-9
D - 10587 BERLIN
tel: + 49/ 30-390 06 176
fax: + 49/ 30-391 10 37
telex: 185284 IPKD

Participants

FRAUNHOFER-IPK - D - C
KUKA SCHWEISSANLAGEN
& ROBOTER GMBH - D - P
LEICA (UK) LTD - UK - P
UNIVERSITEIT VAN AMSTERDAM - NL - P
TEIGHDECLAR GENESIS TEORANTA - IRL - P


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CAR - 5220, December 1993


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html version of synopsis by Nick Cook