Compensation of SCARA Robot Positioning Error using Stereo Camera -3D Error Model and Calibration with Stereo Camera-

摘要

SCARA robots are used in the assembly tasks because of its excellent characteristics. The repeatability of the assembly robot is about 0.02mm in average but the absolute positioning accuracy is not so good. The lack of absolute positioning ability causes the obstruction of the effective off line teaching by CAD. To improve the absolute positioning accuracy, machine vision system especially stereo camera system is useful.