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- W1832321233 abstract "Industry is now seeing a dramatic increase in robot simulation and off-line programming (Motta, 2004; Mitsi, 2005; Swider, 2007). In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires a more efficient and accurate robot workcell calibration. By making use of calibration, the simulated robot workcell will clone the real workcell in a simulation model, so that the off-line generated robot program from a simulated workcell will be accurate enough and can be directly downloaded to a real robot controller to drive the real robot with maximum accuracy and without further modification. In general, workcell calibration includes calibrating all the components inside the workcell, including robot calibration, robot tool calibration and work object calibration. Robot calibration is used to enhance robot positioning accuracy through software rather than by changing the mechanical structure, to compensate for mechanical variations and inconsistency of the robot in the manufacturing process. Robot tool calibration, referred to as robot TCP calibration, is used to determine the position and orientation (i.e. pose) of the tool with respective to the robot end point (that is called the robot mounting flange) or the robot base. This is the main topic of this chapter. Work object calibration is used to identify the position and orientation of the workpiece inside a robot workcell. This is normally measured by the robot with a calibrated measurement tool." @default.
- W1832321233 created "2016-06-24" @default.
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- W1832321233 date "2011-01-01" @default.
- W1832321233 modified "2023-09-24" @default.
- W1832321233 title "Calibration of a Robot Visual System" @default.
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