Research on Determining the Pose Errors in a Robot Welding Cell Using Theodolits

Cella Flavia Buciuman; Valeria Vacarescu

doi:10.4028/www.scientific.net/AMM.162.435

Paper Titles

Simulation of a Stäubli TX90 Robot during Milling Using SimMechanics
p.403

Performance Criteria to Evaluate a Kinematically Redundant Robotic Cell for Machining Tasks
p.413

Positioning and Orientation Requirements for Robotic Assembly by Insertion
p.423

A New Approach to the Classic Structure for Robotic Arc Welding Systems
p.429

Research on Determining the Pose Errors in a Robot Welding Cell Using Theodolits
p.435

Robotic Welding Cells Configuration
p.445

The Anthropomorphic Six Axis Robot as an Appropriate Tool for Automatic Gas Pipe Welding Process
p.455

A Softness Feeling Display with an Active Tensioner Controlling Contact Pressure Distribution on a Fingertip
p.463

High Speed Non-Contact Object Handling Using Magnetic Levitation and Tilt Control
p.471

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 162Research on Determining the Pose Errors in a Robot...

Research on Determining the Pose Errors in a Robot Welding Cell Using Theodolits

Abstract:

In this article, the authors aim to develop a method for determining the components errors of a robotic welding cell, using coordinate transformations between the reference systems attached to the cells components. Errors are expressed as matrices, as it is usual in the mathematical expressions used in robotics. Errors mathematical modeling refers to the positioning error and also to the orientation error. Therefore, a test cube is used. The experiments presented in the paper, approaches only the positiong error (AP). The method is used for measuring the pose errors of a welding cell, using two theodolits. The method is based on measuring the coordinates of a target characteristic point TCP, the corner of a test cube, relative to a coordinate system attached to one of the two theodolits. It is part of the no contact measurement methods. The main principles of the method and its theoretical basis are validated by experiments, conducted in a welding cell, using a robot CLOOS-Romat in the Robotics Laboratory of the University "Politehnica" of Timisoara.

You might also be interested in these eBooks

Mechanisms, Mechanical Transmissions and Robotics

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 162)

Pages:

435-444

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.162.435

Citation:

Cite this paper

Online since:

March 2012

Authors:

Cella Flavia Buciuman, Valeria Vacarescu

Keywords:

Accuracy, Calibration, Error, Repeatability, Robot, Theodolit, Welding Cell

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] ISO 9283: Manipulating industrial robots. Performance criteria and related test methods. ISO, Geneva, (1998).

Google Scholar

[2] E. Dombre, W. Khalil: Robot manipulators: modeling, performance analysis and control, ISTE Ltd., London, (2007).

Google Scholar

[3] R. Morris,.; S. Uday. (2005). Robot calibration using an automatic theodolite, The International Journal of Advanced Manufacturing Technology. 9 (2005) 114-125.

Google Scholar

[4] R.I. Ahmad., H. Azmi , S. Syamimi , Z.N. Mohd, N. Mohd: The performance analysis of industrial robot under loaded conditions and various distance, International Journal of Mathematical Models and Methods in Applied Sciences. 2 (2008) 277-284.

Google Scholar

[5] V. Vacarescu; I.N. Vacarescu.: Industrial robots: performances and testing, Mirton , Timisoara, (1998).

Google Scholar

[6] V. Vacarescu, C.F. Vacarescu ,V. Argesanu , A. Draghici : An Optical Method for the robot's performances testing, Annals of DAAAM for 2009 & Proceedings of the 20th International DAAAM Symposium. 20 ( 2009) 807-808.

Google Scholar