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Calibration of a Serial Robot Using a Laser Tracker

Albert Nubiola

ISBN 10: 3659155934 / ISBN 13: 9783659155932
Editorial: LAP Lambert Academic Publishing
Nuevos Condición: New Encuadernación de tapa blanda
Librería: BuySomeBooks (Las Vegas, NV, Estados Unidos de America)

Librería en AbeBooks desde: 21 de mayo de 2012

Cantidad: > 20

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Descripción

Paperback. 160 pages. Dimensions: 8.7in. x 5.9in. x 0.4in.The positioning performance of the industrial robot ABB IRB 1600-61. 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 robots accuracy. This item ships from multiple locations. Your book may arrive from Roseburg,OR, La Vergne,TN. N° de ref. de la librería 9783659155932

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Detalles bibliográficos

Título: Calibration of a Serial Robot Using a Laser ...

Editorial: LAP Lambert Academic Publishing

Encuadernación: Paperback

Condición del libro:New

Tipo de libro: Paperback

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Sinopsis:

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.

About the Author:

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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