서지주요정보
산업용 로봇의 기하학적 및 비기하학적 오차의 동시 보정 = Simultaneous calibration of the geometric and non-geometric errors of industrial robot
서명 / 저자 산업용 로봇의 기하학적 및 비기하학적 오차의 동시 보정 = Simultaneous calibration of the geometric and non-geometric errors of industrial robot / 장준현.
발행사항 [대전 : 한국과학기술원, 2001].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8012250

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 01028

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

Inaccurate positioning of the robot end effector causes joint deformation as well as geometric errors when an industrial robot has a payload at its end effector. We propose a new approach of calibration which deals with joint angle dependent errors to compensate for these phenomena. To implement this method, we divided the robot workspace into several local regions, and built a calibration equation by generating the constraint conditions of the end effector’s motion in each local region using a three dimensional position measurement system. The parameter errors obtained this way were interpolated using the Radial Basis Function Network (RBFN) so as to estimate calibration errors in the regions that we did not measure. Identified parameter errors were used to correct joint angles in order to improve positioning accuracy of robot end-effector, since it is impossible to get inverse kinematics with these identified parameters. The optimally compensated joint angles obtained were also generalized using the RBFN. In this case, we optimized RBFN structure such that it had small output error with small number of neurons. This optimization were accomplished by genetic algorithm. We used this technique to improve the performance of a six DOF industrial robot used for arc welding, and used test standard from ISO.

서지기타정보

서지기타정보
청구기호 {DME 01028
형태사항 ix, 137 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A, Deflection error model. - B, Plane point analysis. - C, Genetic algorithm. - D, Radial basis function network. - E, Recursive orthogonal least square
저자명의 영문표기 : Joon-Hyun Jang
지도교수의 한글표기 : 곽윤근
지도교수의 영문표기 : Yoon-Keun Kwak
수록잡지명 : "Calibration of geometric and non-geometric errors of an industrial robot ". Robotica,
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p.133-137
주제 보정
파라미터 오차
보상
부하 하중
방사 기초 함수망
calibration
parameter error
compensation
payload
radial basis function network
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