Modelling of the gravity compensators in robotic manufacturing cells
This work addresses calibration accuracy for gravity compensators in robotic manufacturing cells, which is incremental as it builds on existing modeling techniques.
The paper tackled the modeling and identification of gravity compensators in heavy industrial robots, focusing on geometric parameter identification and calibration accuracy, and demonstrated the technique's advantages through experimental results.
The paper deals with the modeling and identification of the gravity compensators used in heavy industrial robots. The main attention is paid to the geometrical parameters identification and calibration accuracy. To reduce impact of the measurement errors, the design of calibration experiments is used. The advantages of the developed technique are illustrated by experimental results