Details

Autor(en) / Beteiligte

• Gutiérrez, Jose
• Chanal, Helene
• Durieux, Severine
• Duc, Emmanuel
• Romdhane, Lotfi
• Laribi, Med Amine
• Zeghloul, Saïd

Titel

Adaptation of the Geometric Model of a 6 dof Serial Robot to the Task Space

Ist Teil von

• Computational Kinematics, p.569-576

Ort / Verlag

Cham: Springer International Publishing

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This work presents the results concerning the modeling and sensitivity analysis of the serial ABB IRB 6660 robot in a dedicated workspace. In this sense, this study is a first step to define a geometrical modeling method. The proposed method is based on the introduction of one parameter for each defect which affects the orientation and position of each robot joint and end-effector. Then, the parameters selection is realized with a sensitivity analysis with regard to the workspace and needed accuracy. This work is illustrated on an ABB IRB 6660 robot. The final aim of this approach is to improve the accuracy of a robot during the following of a tool path in a given workspace.