TY - GEN
T1 - The method of recovering robot TCP positions in industrial robot application programs
AU - Cheng, Frank S.
PY - 2007
Y1 - 2007
N2 - Robot tool-center-point (TCP) positions are critical elements in industrial robot application programs. Their measurements and accuracies rely on the actual geometries and positions of components in a robot cell. Tiny changes of the components such as robots, end-effectors, fixtures, parts in the robot cells will cause inaccuracies of robot TCP positions used in existing robot programs. This paper introduces the method of performing robot cell calibrations to recover the accuracies of originally defined robot TCP positions. This is done by employing a precise external measuring system that is able to calibrate the robot, end-effector, and fixture in a robot cell with spatial measurements and mathematical calculations. Successful applications of this technology allow rapid deployments of industrial robot applications by accurately transferring or downloading production robot programs between two "identical" robot cells.
AB - Robot tool-center-point (TCP) positions are critical elements in industrial robot application programs. Their measurements and accuracies rely on the actual geometries and positions of components in a robot cell. Tiny changes of the components such as robots, end-effectors, fixtures, parts in the robot cells will cause inaccuracies of robot TCP positions used in existing robot programs. This paper introduces the method of performing robot cell calibrations to recover the accuracies of originally defined robot TCP positions. This is done by employing a precise external measuring system that is able to calibrate the robot, end-effector, and fixture in a robot cell with spatial measurements and mathematical calculations. Successful applications of this technology allow rapid deployments of industrial robot applications by accurately transferring or downloading production robot programs between two "identical" robot cells.
KW - Robot cell
KW - Robot cell calibration
KW - Robot program
UR - http://www.scopus.com/inward/record.url?scp=37049009718&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303648
DO - 10.1109/ICMA.2007.4303648
M3 - Conference contribution
AN - SCOPUS:37049009718
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 805
EP - 810
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -