# IMPROVED METHOD FOR HIGHLY ACCURATE INTEGRATION OF TRACK MOTIONS

### Michael Kleinkes, Werner Neddermeyer, Michael Schnell

#### Abstract

Modern Robotics today deals with increasing requirements on the flexible automation. One of this is the usage of linear tracks or even called 7th axis to extend the robots workspace. The inaccuracies of the linear track deteriorate the accuracy, which is in constrast to highly accurate robot systems needed for modern applications. To enhance the accuracy of the system consisting of robot and linear track, an identification of the non-linearities of the linear track is necessary. This article introduces an optimisation of a method for highly accurate integration of track motions where the profile of the linear track is identified by single coordinate systems along the track, combined by a cubic spline interpolation. Resulting there is a continous description of the track profile, depending on the current position of the robot on the linear track.

#### References

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#### Paper Citation

#### in Harvard Style

Kleinkes M., Neddermeyer W. and Schnell M. (2006). **IMPROVED METHOD FOR HIGHLY ACCURATE INTEGRATION OF TRACK MOTIONS** . In *Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,* ISBN 978-972-8865-60-3, pages 469-473. DOI: 10.5220/0001203504690473

#### in Bibtex Style

@conference{icinco06,

author={Michael Kleinkes and Werner Neddermeyer and Michael Schnell},

title={IMPROVED METHOD FOR HIGHLY ACCURATE INTEGRATION OF TRACK MOTIONS},

booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

year={2006},

pages={469-473},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001203504690473},

isbn={978-972-8865-60-3},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,

TI - IMPROVED METHOD FOR HIGHLY ACCURATE INTEGRATION OF TRACK MOTIONS

SN - 978-972-8865-60-3

AU - Kleinkes M.

AU - Neddermeyer W.

AU - Schnell M.

PY - 2006

SP - 469

EP - 473

DO - 10.5220/0001203504690473