%0 Generic %1 StielerEpplerGarberEtAl2004 %A Stieler, B. %A Eppler, C. %A Garber, T. %A Kostikov, A. %D 2004 %K ISW TCP accuracy, calibration, gyros industrial navigation robots, %P -- %T On the use of gyros for improving the tool center point navigationof industrial robots. Gyroscopy and Navigation 44 (2004) 1, S. 83...97. (in Russian): On the use of gyros for improving the tool center point navigationof industrial robots. Gyroscopy and Navigation 44 (2004) 1, S. 83...97. (in Russian) %X Navigation errors of industrial robots, i.e. positioning and orientation errors of the “tool center point (TCP)” are in general due to deficiencies of the sensors, the assembly and compliant displacements. For repeated modes of identical sequences under identical load conditions as in mass production many of these effects are overcome by the “teach-in” prior to operation. Not sensor accuracy but repeatability of all the deficiencies is of prime importance. Absolute navigation accuracy opens the way for TCP control right from the design and enables better servicing and exchangeability of devices. This requires an intense calibration of the deficiencies mentioned above during robot manufacturing and servicing. Gyros attached to the TCP open a convenient and accurate way for this task. One gyro package allows the calibration of the angular sensors within all joints of the kinematic chain. The compliance of all links of this chain and of all assembly deficiencies become observable when the output of this package is compared to the ro-bot sensor output or the robot command via the Jacobian matrix. The calibration results will be stored for compensation during operation. The concept is verified by simulation and test results.

@misc{StielerEpplerGarberEtAl2004, __markedentry = {[xtl:6]}, abstract = {Navigation errors of industrial robots, i.e. positioning and orientation errors of the “tool center point (TCP)” are in general due to deficiencies of the sensors, the assembly and compliant displacements. For repeated modes of identical sequences under identical load conditions as in mass production many of these effects are overcome by the “teach-in” prior to operation. Not sensor accuracy but repeatability of all the deficiencies is of prime importance. Absolute navigation accuracy opens the way for TCP control right from the design and enables better servicing and exchangeability of devices. This requires an intense calibration of the deficiencies mentioned above during robot manufacturing and servicing. Gyros attached to the TCP open a convenient and accurate way for this task. One gyro package allows the calibration of the angular sensors within all joints of the kinematic chain. The compliance of all links of this chain and of all assembly deficiencies become observable when the output of this package is compared to the ro-bot sensor output or the robot command via the Jacobian matrix. The calibration results will be stored for compensation during operation. The concept is verified by simulation and test results.}, added-at = {2016-03-03T09:53:12.000+0100}, author = {Stieler, B. and Eppler, C. and Garber, T. and Kostikov, A.}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/267e8eebf9a7bf0b0d072d9ecb9dce243/isw-bibliothek}, interhash = {d5f71e601ce23753ae1b3878cfe4fdec}, intrahash = {67e8eebf9a7bf0b0d072d9ecb9dce243}, keywords = {ISW TCP accuracy, calibration, gyros industrial navigation robots,}, pages = {--}, timestamp = {2016-03-03T09:18:35.000+0100}, title = {On the use of gyros for improving the tool center point navigationof industrial robots. Gyroscopy and Navigation 44 (2004) 1, S. 83...97. (in Russian): On the use of gyros for improving the tool center point navigationof industrial robots. Gyroscopy and Navigation 44 (2004) 1, S. 83...97. (in Russian)}, year = 2004 }