Accurate determination of robot geometric and flexibility parameters permits significant reduction of systematic errors and improved end-effector positioning accuracy. We apply a 30-parameter flexible geometric model to the Mitsubishi PA10-6CE robot and reduce mean/peak positional errors from 1.80/2.45 mm to 0.33/0.71 mm while loaded at 44 N.
['Chris Lightcap', 'Samuel R. Hamner', 'Tony L. Schmitz', 'Scott A. Banks']
Improved Positioning Accuracy of the PA10-6CE Robot with Geometric and Flexibility Calibration