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Robot accuracy evaluation using a ball-bar link system
Yeon Taek Oh
Journal:

Robotica / Volume 29 / Issue 6 / October 2011

Published online by Cambridge University Press:

15 March 2011, pp. 917-927
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Relatively large errors can exist in industrial robots as a result of mismatch between the controller model and the corresponding physical model. The paper outlines a novel approach for accuracy assessment and adjustment of multiaxis industrial robots through a low-cost ball-bar link system. The features of the ball-bar, which incorporated a 12 mm range digital displacement transducer in conjunction with a PC, are discussed. The ball-bar device was used in both a trammelling and circular mode of operation. This produced data which not only related to the accuracy of the robot but also enabled joint errors to be significantly reduced.