Esprit II Project 5220 'CAR'

ESPRIT II Project 5220 'CAR':

Calibration Applied to Quality Control and Maintenance in Robot Production

Low-cost system for measuring position and orientation of a robot's tool-center-point.

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.

Researchers:

G.D. van Albada, A. Visser, J.M. Lagerberg, Z. ZhongWei and L.O. Hertzberger

Cooperations:

Fraunhofer-IPK, Kuka Schweissanlagen & Roboter GmbH, Leica LTD, Teighdeclar Genisis Teoranta

Publications/links:

G.D. van Albada, A.Visser, J.M. Lagerberg and L.O. Hertzberger, "A portable measuring system for robot calibration", in J.I. Soliman and D. Roller, editors, 28th International Symposium on Automative Technology and Automation ISATA, Proceedings of the dedicated conference on mechatronics - efficient computer support for engineering, manufacturing, testing and reliability, pages 441-448, (Automative Automation Limited, Croydon, England), Sep. 1995. (Portable Document Format 66 Kb)
G.D. van Albada, A.Visser, J.M. Lagerberg and L.O. Hertzberger, "A low-cost pose-measuring system for robot calibration", Robotics and Autonomous Systems, Vol 15., No. 3, pages 207-227, Aug. 1995. Document Format 233 Kb)
G.D. van Albada, A.Visser and J.M. Lagerberg, "Eye in hand robot calibration", Industrial Robot, Vol. 21, No. 6, pages 14-17, Dec. 1994.
Schröer, K. , Bernhardt, R., Wörn, H., Albada, D. van, Smyth, J., Meyer, R.: "Calibration applied to quality control in robot production," The 10th International Conference of CAD/CAM, Robotics and Factories of the Future: CARs & FOF '94, Ottawa, Canada, 21-24 Aug. 1994, Ed. M. Zaremba, pp. 578- 583, OCRI Publications, Kanata, Ontario, Canada (1994)
K. Schroer, S.L. Albright, M. Grethlein, A. Lisounkin, G.D. van Albada, J.M. Lagerberg and A. Visser, "Advances in robot calibration: modelling, parameter indentification, measurement" in Proceedings of the 25th International Symposium on Industrial Robots (25th ISIR), pages 733-740, (Mechanical Engineering Publications, England), April 1994.
G.D. van Albada, J.M. Lagerberg, Z. ZhongWei, "Portable calibration systems for robots";, in "Robot Calibration" Eds. R. Bernhardt, S. Albright, Chapman & Hall, London (August 1993), ISBN 0412491400, p.101-123. (Portable Document Format 134 Kb)