Encontrados 6 documentos, a visualizar página 1 de 1
Experimental validation of a 3-D vision-based measurement system applied to rob...
Motta,J. M. S. T.; McMaster,R. S.One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost...
Modeling, optimizing and simulating robot calibration with accuracy improvement
Motta,José Maurício S. T.; Mcmaster,R. S.This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their phys...
A low cost cell calibration technique and its PC based control software
Ribeiro, António Fernando; McMaster, R. S.In this study, a technique will be presented to measure the absolute position of a robot and any other strategic positions within the workcell, and also its specially built control software. One of the most important factors affecting the absolute or world accuracy of robots is the variation in arm geometry from a perfect kinematics form. Since arm position is essentially controlled by means of joint angles, Ca...
Automation of beam straightness measurement
Ribeiro, António Fernando; McMaster, R. S.This work deals with the development of an image processing methodology to be employed in an inspection machine for measurement of straightness of moving steel beams. The method consists of developing specific software to perform three main tasks: reading the position of the beam at several locations; correlating the data monitored by the cameras; and reporting the quality of the beam straightness. Computer vis...
Cell calibration and robot tracking
McMaster, R. S.; Ribeiro, António FernandoWhen considering off-line programming of Industrial robots, it is important that the simulated model of the robot and its environment is calibrated against the real hardware. It is well known that industrial robots have relatively good position repeatability characteristics but suffer from a lack of precision in terms of absolute accuracy. When programmed on-line, this is not apparent since the programmer intui...
Practical case of rapid prototyping using gas metal arc welding
Ribeiro, António Fernando; Norrish, John; McMaster, R. S.To prove the viability of ‘Rapid Prototyping using Fusion Welding’ the author presents an example of a component created using this process. At this stage of the work, the process is not yet completed thus some of the modules that are part of this process were generated artificially. This paper will present the following sections: 1) a basic idea of how the process works, 2) description of each step in the proc...
| Financiadores do RCAAP | |||||||
|
|
|
|
|
|
||