Workcell calibration for effective offline programmingIn the application of graphics systems for off-line programming (OLP) of robotic systems, the inevitability of errors in the model representation of real-world situations requires that a method to map these differences is incorporated as an integral part of the overall system progamming procedures. This paper discusses several proven robot-to-positioner calibration techniques necessary to reflect real-world parameters in a work-cell model. Particular attention is given to the procedures used to adjust a graphics model to an acceptable degree of accuracy for integration of OLP for the Space Shuttle Main Engine welding automation. Consideration is given to the levels of calibration, requirements, special considerations for coordinated motion, and calibration procedures.
Document ID
19900036627
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Stiles, Roger D. (Intergraph Corp. Huntsville, AL, United States)
Jones, Clyde S. (NASA Marshall Space Flight Center Huntsville, AL, United States)