Abstract:
This thesis is dealing about correction and improvement of modern industrial
robot applications. With focus on the non-linear correction of robot linear tracks,
it shows a method for minimisation of the 6-dimensional error of the reached
robot points in applications. This is done by static 3D-measurement of the
robots tool center point in different positions on the track. After calculation of
the 6-dimensional mathematical model of the linear track using cubic splines, a
correction offset for arbitrary robot skid positions on the linear track can be calculated.
Due to the compensation of the gap between simulated robot cell and real
application, the usage of offline robot program points without the need for online
correction is significantly increased. This effects time savings during setup of
the robot application cells and reduces the effort in calibration and high-accurate
assembling of linear track on-site.
