Study on Articulated type 3D Robot Teaching Machine. (1st Report). Basic Error Model Analysis and Development of Calibration Procedure.

This paper describes about the kinematic error model and calibration procedure of the 3D robot teaching instrument. 3D teaching operation, using a real robot is not efficient work. The 3D teaching instrument has been developed for the robot teaching tasks. Articulated type teaching instrument has high mobility, but it is necessary to calibrate precisely to realize high positioning accuracy. In this report a method to identify the base point of measuring coordinate system and offset angle of the joint, numerically by Powell method is proposed. A calibration method of link parameter errors, using the SVD (Singular Value Decomposition)is presented. By the experimental results, this calibration procedure is proved.