125. AVOIDING HEAVY COMPUTATIONS IN INVERSE CALIBRATION PROCEDURE FOR 7 DOF ROBOT MANIPULATOR

Samoil  Samak; Igor  Dimovski; Mirjana  Trompeska; Vladimir  Dukovski

doi:10.51466/JEET161-2037s

Samoil Samak 1Institute for Advanced Composites and Robotics, Prilep, Republic of Mcedonia 2Faculty of Mechanical Engineering, "Ss. Cyril and Methodius" University in Skopje, Rugjer Bošković bb, P.O. box 674, 1001 Skopje, Republic of Macedonia Faculty of Electrical Engineering and Information Technologies, "Ss. Cyril and Methodius" University in Skopje, Rugjer Boshkovik bb, P.O. box 574, 1001 Skopje, Republic of Macedonia
Igor Dimovski
Mirjana Trompeska
Vladimir Dukovski

DOI: https://doi.org/10.51466/JEET161-2037s

Keywords: inverse calibration, geometric errors, robot manipulator

Abstract

Procedure for determining commanded coordinates in machine space if desired coordinates are given is inverse calibration. A large amount of data is considered after measurement procedure and it is essential to locate desired point in the real space which is skewed due to measured geometric errors. The machine workspace is divided to cells using measurement points. It is depicted the importance of finding the proper cell in skewed