Shopfloor-Ready High Accuracy Robotics
Conference: ISR Europe 2022 - 54th International Symposium on Robotics
06/20/2022 - 06/21/2022 at Munich
Proceedings: ISR Europe 2022
Pages: 8Language: englishTyp: PDF
Authors:
Garstenauer, Michael; Mittermayer, Christoph (KEBA Industrial Automation GmbH, Linz, Austria)
Reyhani-Masouleh, Moien; Schwegel, Michael (Institut für Automatisierungs- und Regelungstechnik (ACIN), Gruppe für Komplexe Dynamische Systeme, Technische Universität Wien, Austria)
Abstract:
This article shows practical aspects of improving the accuracy of industrial robots. It presents a setup and approach used for robot accuracy analysis, robot calibration and error compensation. These processes can significantly benefit from integration of a real-time measurement with a laser tracker into the robot controller. Considerations concerning robot models with different levels of detail are presented. The analysis and efficacy of this approach is supported by measurements on a standard industrial robot.