Robust Computer-Aided Measurement Planning and Calibration Protocols for Aerospace Manufacturing Robotics Applications Automation, Robotics and Intelligent Manufacturing Systems Aerospace Manufacturing Technology Centre, Institute for Aerospace Research National Research Council Canada

Format:

Conference/Event

Author/Creator:

Monsarrat, Bruno, author.

Conference Name:

SAE 2004 Aerospace Manufacturing & Automated Fastening Conference & Exhibition (2004-09-21 : St Louis, Missouri, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2004

Summary:

Robust measurement planning algorithms and calibration protocols applicable to both serial and hybrid industrial robots containing four-bar actuating mechanisms are presented in this paper. Contrary to currently available approaches developed by commercial calibration solutions providers, the present methodology based on a Laser Interferometry tracking system leads to an unprecedented level of positional accuracy, as required in typical aerospace manufacturing robotic applications. This paper presents several technical contributions, from innovative measurement planning algorithms, highly accurate geometric and nongeometric kinematic errors models to functional software modules incorporated in state-of-the-art robotic off-line programming software, viz, Workspace5.04 and Delmia V5 Robotics. The improvement in robot accuracy achieved via this complete suite of measurement algorithms and software tools is finally demonstrated through test cases

Notes:

Vendor supplied data

Publisher Number:

2004-01-2833

Access Restriction:

Restricted for use by site license