Researches Regarding Pose Accuracy Characteristics at Industrial Robots

Abstract:

Analyzing applications involving industrial robots, these can generally be classified into two categories. In the first category, the robot is used to position an object or a tool in its working space. In the second category, the robot is used for programmed and continuous movement of an object in the working space. These two categories of use of industrial robots determine two families of characteristics considered fundamental for the assessment of performance robots: pose characteristics and tracking path characteristics. The pose characteristics are generally expressed by the pose accuracy and pose repeatability (positioning and orientation). From this category is “distance accuracy”, whose analysis is the subject of this paper. The authors present a method for measuring and evaluating of this characteristic, through 3D triangulation with two digital theodolits. The experimental researches were made for a welding robot type Cloos-Romat. The presented case study validates the results of the experimental research, the method and the used algorithm.

• Periodical: Applied Mechanics and Materials (Volume 762)
• Pages: 213-218
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.762.213
• Online since: May 2015
• Authors: Valeria Vacarescu*, Cella Flavia Buciuman
• Keywords: Digital Theodolite, Distance Accuracy, Error, Optical Method, Robot

References

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