Robust Computer-Aided Measurement Planning and Calibration Protocols for Aerospace Manufacturing Robotics Applications 2004-01-2833

Robust measurement planning algorithms and calibration protocols applicable to both serial and hybrid industrial robots containing four-bar actuating mechanisms are presented in this paper. Contrary to currently available approaches developed by commercial calibration solutions providers, the present methodology based on a Laser Interferometry tracking system leads to an unprecedented level of positional accuracy, as required in typical aerospace manufacturing robotic applications. This paper presents several technical contributions, from innovative measurement planning algorithms, highly accurate geometric and nongeometric kinematic errors models to functional software modules incorporated in state-of-the-art robotic off-line programming software, viz, Workspace5.04 and Delmia V5 Robotics. The improvement in robot accuracy achieved via this complete suite of measurement algorithms and software tools is finally demonstrated through test cases.