Flexing of the arms, imprecision in the coupling joints, gearbox backlash, general non-linearity, and friction are among factors that affect positioning accuracy of robotic arms.
Achieving new levels of accuracy as well as application flexibility were goals of the ARFLEX project. The goals, identified as current needs of large and small customers in a manufacturing sector, were targeted by a consortium of seven European companies led by Italian EICAS Automazione.
The idea to correct the positional error of a robot was to measure the gap between the active tool and the reference position. A suitable sensor system was implemented. It consists of multiple fixed smart cameras that are positioned to view passive infrared-receptive markers located at the robots active tool. The markers are the only objects captured by the vision systems, as it is equipped with infrared filters. The testing and feasibility analysis were performed and two...
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