发明名称 |
CALIBRATION DEVICE OF A ROBOT AND A METHOD THEREOF FOR IMPROVING POSITION ACCURACY BY COMPENSATING FOR A ROBOT POSITION CONTROL ERROR BY UTILIZING REAL VALUES OF KINEMATICAL AND DYNAMIC VARIABLES |
摘要 |
PURPOSE: A calibration device of a robot and a method thereof are provided to decide the compensation degree by driving the robot in several poses in a state of restricting some freedom and by minimizing an error between poses calculated by data measured. CONSTITUTION: A calibration device of a robot comprises a support member(11) fixed to a base of the robot; a constraint link(12) installed between the support member and an end-effector(105) of the robot connected to the base of the robot through plural motion links, to constrain the distance between the end-effector and the base of the robot; at least two joints(14) installed to the constraint link; a rotation angle detection unit measuring the rotation angle of the end-effector when the end-effector of the robot moves in a predetermined pose; and a slant detection unit(30) installed to the constraint link, to detect rotation in a coordinate system of the end-effector and the base of the robot.
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申请公布号 |
KR20050018545(A) |
申请公布日期 |
2005.02.23 |
申请号 |
KR20030085335 |
申请日期 |
2003.11.28 |
申请人 |
GWANGJU INSTITUTE OF SCIENCE AND TECHNOLOGY |
发明人 |
ABDUL, RAUF;KIM, SUNG GAUN;RYU, JE HA |
分类号 |
B25J9/10;(IPC1-7):B25J9/10 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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