Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots’ geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That’s because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot’s movement from the identification of its real kinematical parameters for the later study of every articulation’s rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot’s movement, improving its precision with a physical understanding of the errors.

JO - Metrology and Measurement Systems L1 - http://journals.pan.pl/Content/90223/PDF/Journal10178-VolumeXXI+Issue1_09.pdf L2 - http://journals.pan.pl/Content/90223 IS - No 1 EP - 98 KW - Circle point KW - Robot calibration KW - Laser tracker KW - Mathematical optimization ER - A1 - Santolaria, Jorge A1 - Conte, Javier A1 - Pueo, Marcos A1 - Javierre, Carlos PB - Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation JF - Metrology and Measurement Systems SP - 85 T1 - ROTATION ERROR MODELING AND IDENTIFICATION FOR ROBOT KINEMATIC CALIBRATION BY CIRCLE POINT METHOD UR - http://journals.pan.pl/dlibra/docmetadata?id=90223 DOI - 10.2478/mms-2014-0009