Authors:
M. Wagner
1
;
A. Buschhaus
2
;
S. Reitelshöfer
2
;
P. Heß
1
and
J. Franke
2
Affiliations:
1
Nuremberg Institute of Technology, Germany
;
2
Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Germany
Keyword(s):
Accuracy, Calibration, Industrial Robots, Multi-robot Systems.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Manufacturing Systems Engineering
;
Precision Engineering
;
Systems Modeling and Simulation
Abstract:
The cooperative working of multiple robots on a common task often requires a high geometric accuracy. If
such a system is modeled, many sources of error are present, which can quickly lead to inadequate process
results. In order to avoid this, it is important to carry out a calibration in which deviations are determined.
Subsequently, the model can be adapted to the actual conditions. In the scope of this work a kinematic
calibration method for multi-robot systems is developed and realized with a robot setup consisting of two
industrial robot arms. The accuracy of the robot system is significantly improved by the developed approach,
which has been proven by experimental investigations.