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Calibration of a Serial Robot Using a Laser Tracker: Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker - Brossura
Sinossi
The positioning performance of the industrial robot ABB IRB 1600-6/1.45 is deeply studied with a Faro ION laser tracker. Axes 2, 3 and 6 are found to have a non-geometrical behaviour. Different robot models are taken into account for calibration. The level-3 model takes into account the geometrical defaults as well as four error parameters related to stiffness in axes 2 and 3, plus four other error parameters used to fit a second-order Fourier series to the non-linearity of axis 6. The Nelder-Mead technique is used to find the error parameters of the model. The ISO 9283 tests are found to be not complete enough to validate the position performance of the robot. An extensive validation procedure is applied in addition to the ISO 9283 tests. Several tests are also applied to the Faro laser tracker to validate its precision, repeatability and stability. Repeatability tests and stabilization tests are also performed to the calibrated robot. Finally, circular tests are applied with a Renishaw QC20-W telescopic bar to validate the improvement of the robot's accuracy.
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L'autore
Albert Nubiola i Batlle was born in Barcelona. He received his bachelor's degree from the Escola Tècnica Superior d'Enginyeria Industrial de Barcelona, UPC. He obtained his master's degree from the École de Technologie Supérieure in Montréal. Author's interests are focused in robot manufacturing and robot calibration.
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Calibration of a Serial Robot Using a Laser Tracker
Editore:
LAP Lambert Academic Publishing Jul 2012, 2012
ISBN 10: 3659155934
ISBN 13: 9783659155932
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Da: BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, Germania
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Taschenbuch. Condizione: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -The positioning performance of the industrial robot ABB IRB 1600-6/1.45 is deeply studied with a Faro ION laser tracker. Axes 2, 3 and 6 are found to have a non-geometrical behaviour. Different robot models are taken into account for calibration. The level-3 model takes into account the geometrical defaults as well as four error parameters related to stiffness in axes 2 and 3, plus four other error parameters used to fit a second-order Fourier series to the non-linearity of axis 6. The Nelder-Mead technique is used to find the error parameters of the model. The ISO 9283 tests are found to be not complete enough to validate the position performance of the robot. An extensive validation procedure is applied in addition to the ISO 9283 tests. Several tests are also applied to the Faro laser tracker to validate its precision, repeatability and stability. Repeatability tests and stabilization tests are also performed to the calibrated robot. Finally, circular tests are applied with a Renishaw QC20-W telescopic bar to validate the improvement of the robot's accuracy. 160 pp. Englisch. Codice articolo 9783659155932
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Calibration of a Serial Robot Using a Laser Tracker : Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker
Editore:
LAP LAMBERT Academic Publishing, 2012
ISBN 10: 3659155934
ISBN 13: 9783659155932
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Da: AHA-BUCH GmbH, Einbeck, Germania
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Taschenbuch. Condizione: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - The positioning performance of the industrial robot ABB IRB 1600-6/1.45 is deeply studied with a Faro ION laser tracker. Axes 2, 3 and 6 are found to have a non-geometrical behaviour. Different robot models are taken into account for calibration. The level-3 model takes into account the geometrical defaults as well as four error parameters related to stiffness in axes 2 and 3, plus four other error parameters used to fit a second-order Fourier series to the non-linearity of axis 6. The Nelder-Mead technique is used to find the error parameters of the model. The ISO 9283 tests are found to be not complete enough to validate the position performance of the robot. An extensive validation procedure is applied in addition to the ISO 9283 tests. Several tests are also applied to the Faro laser tracker to validate its precision, repeatability and stability. Repeatability tests and stabilization tests are also performed to the calibrated robot. Finally, circular tests are applied with a Renishaw QC20-W telescopic bar to validate the improvement of the robot's accuracy. Codice articolo 9783659155932
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Calibration of a Serial Robot Using a Laser Tracker
Editore:
LAP LAMBERT Academic Publishing Jul 2012, 2012
ISBN 10: 3659155934
ISBN 13: 9783659155932
Nuovo
Taschenbuch
Da: buchversandmimpf2000, Emtmannsberg, BAYE, Germania
Valutazione del venditore 5 su 5 stelle
Taschenbuch. Condizione: Neu. This item is printed on demand - Print on Demand Titel. Neuware -The positioning performance of the industrial robot ABB IRB 1600-6/1.45 is deeply studied with a Faro ION laser tracker. Axes 2, 3 and 6 are found to have a non-geometrical behaviour. Different robot models are taken into account for calibration. The level-3 model takes into account the geometrical defaults as well as four error parameters related to stiffness in axes 2 and 3, plus four other error parameters used to fit a second-order Fourier series to the non-linearity of axis 6. The Nelder-Mead technique is used to find the error parameters of the model. The ISO 9283 tests are found to be not complete enough to validate the position performance of the robot. An extensive validation procedure is applied in addition to the ISO 9283 tests. Several tests are also applied to the Faro laser tracker to validate its precision, repeatability and stability. Repeatability tests and stabilization tests are also performed to the calibrated robot. Finally, circular tests are applied with a Renishaw QC20-W telescopic bar to validate the improvement of the robot's accuracy.OmniScriptum SRL, Str. Armeneasca 28/1, office 1, 2012 Chisinau 160 pp. Englisch. Codice articolo 9783659155932
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Calibration of a Serial Robot Using a Laser Tracker | Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker
Editore:
LAP LAMBERT Academic Publishing, 2012
ISBN 10: 3659155934
ISBN 13: 9783659155932
Nuovo
Taschenbuch
Da: preigu, Osnabrück, Germania
Valutazione del venditore 5 su 5 stelle
Taschenbuch. Condizione: Neu. Calibration of a Serial Robot Using a Laser Tracker | Calibration of the ABB IRB1600-6/1.45 robot with a Faro ION laser tracker | Albert Nubiola | Taschenbuch | 160 S. | Englisch | 2012 | LAP LAMBERT Academic Publishing | EAN 9783659155932 | Verantwortliche Person für die EU: preigu GmbH & Co. KG, Lengericher Landstr. 19, 49078 Osnabrück, mail[at]preigu[dot]de | Anbieter: preigu. Codice articolo 106391907
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