Model-based calibration of industrial robots
Due to unavoidable manufacturing tolerances, industrial robots possess individual deviations from the ideal system. Without knowledge of these deviations, errors of up to a few millimeters can result in the workspace when approaching target poses in robot systems.
On the way to optimize such robot systems, an extremely powerful software application “CaliRob” for model-based calibration has been developed by Fraunhofer IFAM in Stade, enabling high-precision robot use. The software guides through a laser tracker-based evaluation of the robot. A key element of the application is a exceptionally comprehensive, far-reaching mathematical model that includes over 200 parameters for describing robot kinematics. The individual parameter set of a robot is determined using the measurement data from the evaluation in an optimization calculation, which is particularly challenging due to the large number of parameters, but also especially accurate. Conventional solution methods reach their limits here, as parameters interact with each other in complex, sometimes ambiguous ways.
With the help of a numerical optimization approach developed at Fraunhofer IFAM, these parameters can be reliably determined despite the pronounced ambiguity of the problem. The calibration of robots contributes to enhancing their accuracy, thereby enabling in various applications by improving their overall performance.
To Product Page
Hotline:
+49 (0)511 89-0
Deutsche Messe AG
Cookie Settings