Identification of kinematic errors, position and rotation of industrial robot used as the redundant measurement system

摘要

The issue of determining industrial robot's kinematic errors does seem to be already fully addressed. However, due to the recent influx of new technological possibilities, it was decided to verify and apply new methods of determining both robot's and its mounted equipment's errors. It is possible for industrial robot with integrated scanning head to become a reliable, automatic system; one that could allow direct coordinate measuring on assembly line even in places that are both difficult to access and dangerous for a worker. However, determination of kinetic errors as well as measuring errors is going to be a start to improving accuracy of the device and modelling errors' matrix. Due to better software correction, the matrix is going to allow installation of cheaper components in devices.