Interpolation of linear track movements of modern industrial robots [articol]

Abstract

Integration of linear track movements in the robot control is a significant part of the accuracy improvement process of modern robotics. For this, the linear track profile has to be analysed for getting a continous description of its inaccuracies for correcting the robot’s end effector position for arbitrary points. This analysis bases in the first step on a discrete measurement of the linear track in special sampling points. In the second step an interpolation between the sampling points is done. In this article some of the possible interpolation methods for creating a continous description of the linear track were tested.