Algorithm for improving accuracy of six-axes robot
is developed and validation method based on computer
simulation is implemented. Optimization is used to minimize the
distances between nominal and actual positions of the tool. That
way, the parameters of the robot are calibrated and using such
calibrated parameters, accuracy of the robot is significantly
enhanced.
Measurement is done using API Radian laser tracker and
experimental data is collected on KUKA 480 R3330. For the set
of 75 points used for calibration, simulation predicted reduction
of the mean of the total displacement error from 1.619 mm to
0.174 mm. After that, the same points were used for verification
procedure. Another measurement is performed, using the
calibrated parameters and numerically calculated compensation
of the machine coordinates of the robot. The mean of total
displacement error was 0.293 mm and that way the correctness of
described method is verified
