Force Sensor Based Calibration of Robot Grinding

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the variance between the simulation system and the real world has to be identified. This requires a more efficient and accurate method for robot calibration. Unlike measuring the position variation, this paper introduces a technique to calibrate the robot paths by using force and torque sensor. Based on the difference of the contact forces between each path, both the system geometric distortion and positioning errors are calibrated and compensated by updating the workpiece coordinate system and tool coordinate system. Finally, the proper and even force distribution is achieved in the grinding process. The experimental result demonstrates the effectiveness of proposed calibration approach.