Kevin Conrad Thesis Abstract

A GENERIC IN-PROCESS CONTACT CALIBRATION METHODOLOGY FOR APPLICATION TO INDUSTRIAL ROBOTICS AUTOMATION OF THE SURFACE FINISHING OF ROTORCRAFT BLADES
Kevin Lance Conrad, M.S.
The University of Texas at Arlington, 1999
Supervising Professor: Panayiotis S. Shiakolas

A contact calibration methodology using a touch probe is developed for an articulated robot arm. This solution is framed within current calibration and metrology issues in robotics based upon the kinematic mechanical design of a serial link manipulator. Accuracy, repeatability, and resolution are explored and a simplistic approach is taken.  This exercise is intended to explore the feasibility of integrating a commercial product such as a force sensor or touch trigger probe on the end of a robot arm. Several features of the proposed configurations are demonstrated including the repeatability, reliability, and accuracy.  Candidate processes and/or applications are  identified. Results indicate that in-process contact calibration is an accurate, repeatable, and cost effective solution.

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