Model of errors of touch-trigger probe installed on the industrial robot

摘要

The paper presents the redundant coordinate system consisting of Kawasaki RS010N Industrial Robot (IR) equipped with Heidenhein touch-trigger probe. The probe was mounted on the IR instead of a gripper and it was connected to a controller. This probe generates a binary signal at the moment of contact with a measuring surface. When the probe gives the signal the controller calculates coordinates of a measuring point thanks to encoders mounted in rotary axis. The signal also affects drivers and machine control. In addition, a special program in AS language was written. The program allows for coordinate measurements using this system. As part of the research an attempt to define a mathematical errors model of acquisition points system was made. For this purpose the model first developed by prof. Jerzy S?adek was used. The errors model of the touch trigger probe describes a relationship between an approach vector and a deviation for each measuring point, taking into account the approach from different directions. For this purpose, tests were performed using material standards of size to identify this function, both as measured internally and externally. An attempt was made to model this function using approximation methods based on the artificial neural networks.