A Critical Review on Calibration of Robots
A Critical Review on Calibration of Robots
复制标题
对机器人校准的批判性评论
DOI：
10.1007/978-981-13-6577-5_65
复制
发表时间：
2019
期刊：
影响因子：
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通讯作者：
N. Chauhan
中科院分区：
文献类型：
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作者：
Tanvi Verma;N. Chauhan
本文提出了一个国家的最先进的文献综述机器人的校准。与此领域相关的现有研究进行了严格的分析和检查，以确定该领域的趋势，并可能确定一个最好的技术做机器人校准。由于机器人类似于机械系统，可能会受到磨损，制造误差，间隙误差，零件装配引起的变化的影响。由于标定在提高机器人定位精度、重复性和分辨率方面起着非常重要的作用。因此，这项研究提供了一个概述的技术，机器人的校准，校准方法的类型，对不同类型的精度和校准的重要性在操作机器人的影响。因此，传统的和非传统的方法都局限于这里校准串行和并行机器人。选择技术的成本效益的方式被确定为提供机器人的绝对精度。并联机器人的标定相对于串联机器人来说是相当复杂的。因此，始终需要确定成本较低且合理的最佳校准方法。
This paper presents a state-of-the-art review of the literature on the calibration of robots. The existing studies related to this field are critically analysed and examined to ascertain the trends in the field and to possibly identify one of the best techniques of doing the calibration of robots. Since robots are similar to the mechanical system, which can be influenced by changes caused by wear, manufacturing error, backlash error, assembly of parts. As calibration plays a very important role in increasing robot positioning accuracy, repeatability and resolution. Hence, this study provides an overview on the techniques for calibration of robots, types of calibration approaches, impact on different kinds of accuracy and importance of calibration in operating the robots. So, traditional and nontraditional approaches are confined here to calibrate serial and parallel robots. The cost-effective way of choosing technique is determined to provide absolute accuracy of the robot. Calibration of parallel robots is quite complicated as compared to serial robots. So, there is always a need to determine the best method of calibration which is less costly and reasonable.