ICRA 2011 Paper Abstract


Paper TuA108.2

Lubrano, Emanuele (EPFL), Bouri, Mohamed (EPFL), Clavel, Reymond (Ecole Polytechnique Fédérale de Lausanne (EPFL))

Ultra-High-Precision Industrial Robots Calibration

Scheduled for presentation during the Regular Sessions "Calibration and Identification I" (TuA108), Tuesday, May 10, 2011, 08:35−08:50, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Calibration and Identification, Industrial Robots, Parallel Robots


This paper furnishes the theoretical basis to perform the calibration of one or more ultra-high-precision industrial robots operating in the same workspace. We propose a new calibration procedure that keeps in account the factors that lower the robot accuracy at nanometer scale. To validate this approach, we present the practical case of the calibration of a two industrial robots system. Finally, we propose nano- indentation as an alternative method to evaluate the final accuracy reached by the system after calibration.



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