Enhancing Robot Positioning Accuracy Using Optimal Configuration Data

應用最佳輪廓數據以增強機械手臂之定位精度

劉履新(Lu-Sin Liu)

《工業工程學刊》 22卷6期 (2005/11) Pp. 443-450

https://doi.org/10.29977/JCIIE.200511.0001

摘要

能有效選取恰當的輪廓數據，以校正機械手臂之連桿參數，進而提升機械手臂之定位精確度，是本研究的目的。本研究針對機械手臂校正參數的數學模式以實驗數據資料進行參數特徵分析，以瞭解所量取機械手臂工作空間之不同輪廓數據對校正連桿參數的影響，並能獲得該連桿參數之校正數學模式的最佳輪廓數據資料特性和所需的最少數據組數。

關鍵字

校正 ； 機械手臂 ； 參數特徵分析 ； 最佳輪廓

並列摘要

This study aims to obtain optimal configuration data for calibrating parameters of robots in order to enhance the positioning accuracy. Analysis of calibration parameters finds a huge deviation in each coordinate dimension of robot configuration when uniaxial or biaxial robot pose data were used to identify the geometric parameters through the calibration model. Hence, triaxial coordinate data are used. Experimental results show that pose data from three-dimensional planes can yield better calibration precision with the maximum deviation below 0.4mm for any axis. In addition, the minimum number of configuration data sets needed for achieving steady deviation in positioning accuracy is also determined.

並列關鍵字

calibration ； robot ； parameter character analysis ； optimal configuration

參考文獻

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