Absolute calibration of an ABB IRB 1600 robot using a laser tracker

Authors:
Albert Nubiola;Ilian A. Bonev
Affiliations:
ícole de technologie supérieure, 1100, Notre-Dame Street West, Montreal, QC, Canada H3C 1K3;ícole de technologie supérieure, 1100, Notre-Dame Street West, Montreal, QC, Canada H3C 1K3
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2013

Citing 4
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Abstract

The absolute accuracy of an ABB IRB 1600 industrial robot is improved using a 29-parameter calibration model, developed after extensive experimentation. The error model takes into account all possible geometric errors (25 geometric error parameters to be identified through optimization, in addition to the pose parameters for the base and tool frames and four error parameters related to the compliance in joints 2, 3, 4 and 5). The least squares optimization technique is used to find the 29 error parameters that best fit the measures acquired with a laser tracker. Contrary to most other similar works, the validation of the robot's accuracy is performed with a very large number of measures (1,000) throughout the complete robot's joint space. After calibration, the mean/maximum position errors at any of eight different measurement points on the end-effector (all offset from axis 6 by approximately 120mm) are reduced from 0.968mm/2.158mm respectively, to 0.364mm/0.696mm.