| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 104 === Robot manipulator have been used for many decades in industrial uses, however, people nowadays still rely on the “teach and learn” method. This is the reason why the specification of robot manipulator only emphasizes on repeatability of pose, instead of the accuracy of pose. Although it somehow meets the requirements in industrial, it is not enough for further applications. For the aspect of CAD–based working, we need robot manipulator with high accuracy of pose in the workspace in order to reach the complicated path. In short, can one robot manipulator reach the point precisely in it’s workspace by a given pose command? What about another same type manipulator? Can it reach the same point precisely without one more “teach and learn” process?
In this paper, we will introduce the serial calibration method for improving the accuracy of pose of the robot manipulator. Using laser tracker as one high accuracy tool for measuring and calibration. Finally, we compare the parameters before and after the calibration in the experiment and show the calibration result.
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