TY  - JOUR
T1  - Calibration of Industrial Robot Kinematics Based on Results of
Interpolating Error by Shape Function
AU - Thi Thu, Thuy Le AU - Pham Thanh, Long AU - Duong Quoc, Khanh 
JO  - Journal of Engineering and Applied Sciences
VL  - 15
IS  - 6
SP  - 1451
EP  - 1461
PY  - 2020
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2020.1451.1461
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2020.1451.1461
KW  - Calibration
KW  -error kinematics
KW  -interpolation
KW  -shape function
KW  -industrial robot
KW  -application
AB  - The initial accuracy of a robot arm depends not only on the hardware’s manufacturing and assembly
quality but also on control strategies. During assembly or regular maintenance, the kinematic accuracy of a
robot arm needs to be verified and calibrated to maintain the desired quality. In this study, we present a method
to determine and correct the robot kinematic error based on the shape function interpolation technique.
Experimental research was applied to aABB robot with six degrees of freedom to verify the correctness of the
method. The results indicated that the position errors of the end-effector were significantly reduced. The
effectiveness of the proposed interpolation method and combined error compensation algorithm demonstrated
that practical application is feasible.
ER  -