Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors

Adel Olabi 1 Mohamed Damak 2 Richard Béarée 2 Olivier Gibaru 2, 3 Stéphane Leleu 2
1 INSM
LSIS - Laboratoire des Sciences de l'Information et des Systèmes
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant error of position in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally.
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Adel Olabi, Mohamed Damak, Richard Béarée, Olivier Gibaru, Stéphane Leleu. Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors. IEEE International Conference on Industrial Technology, Mar 2012, Island of Kos, Greece. ⟨hal-00777382⟩

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