Complete calibration of industrial robot with limited parameters and neural network
This paper presents a method of calibrating and compensating for the kinematic errors in robat manipulators. A method Of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator’s structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector Cartesian position. These kinematic errors are experimentally determined for a PUMA 560 six joint manipdata-. Two generd purpose compensation are developed and the improvement in the Cartesian position of the endeffector is experimentally measwed and these results are Presented.