scholarly journals Estimation of uncertainty of laser interferometer measurement in industrial robot accuracy tests

2017 ◽  
Vol 15 ◽  
pp. 04005 ◽  
Author(s):  
Jerzy Józwik ◽  
Elżbieta Jacniacka ◽  
Dawid Ostrowski
Keyword(s):  
Laser Interferometer ◽  
Industrial Robot ◽  
Robot Accuracy ◽  
Estimation Of Uncertainty

scholarly journals Examination of industrial robot performance parameters utilizing machine tool diagnostic methods

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090572
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Miroslav Císar ◽  
Zuzana Ságová ◽  
Ivan Zajačko
Keyword(s):  
Research Method ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Diagnostic Methods ◽  
Circular Path ◽  
Performance Parameters ◽  
Positional Analysis ◽  
Accuracy And Precision ◽  
Robot Accuracy ◽  
Robot Performance

The article discusses the possibility to identify changes in robot accuracy based on deformation of the circular path measured by the Renishaw Ballbar system. The research method utilizes correlation between industrial robot accuracy and precision of method used for the so-called calibration process. The presented experiments consist of two basic parts. The first is positional analysis with a simulation model of the robot in Creo Parametric 4.0. The second part describe practical measurements using the Renishaw Ballbar QC20-W and the Renishaw XL-80 laser interferometer. The results of the experiments confirm that Renishaw Ballbar can be used to quickly and simply identify occurrence of changes in the condition of an industrial robot.

Industrial Robot Accuracy Degradation Monitoring and Quick Health Assessment

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Guixiu Qiao ◽  
Brian A. Weiss
Keyword(s):  
Production Efficiency ◽  
Health Management ◽  
Research Effort ◽  
Industrial Robot ◽  
Health Assessment ◽  
Test Method ◽  
Health State ◽  
Future Health ◽  
Robot Accuracy ◽  
Degradation Monitoring

Robot accuracy degradation sensing, monitoring, and assessment are critical activities in many industrial robot applications, especially when it comes to the high accuracy operations which may include welding, material removal, robotic drilling, and robot riveting. The degradation of robot tool center accuracy can increase the likelihood of unexpected shutdowns and decrease manufacturing quality and production efficiency. The development of monitoring, diagnostic and prognostic (collectively known as prognostics and health management (PHM)) technologies can aid manufacturers in maintaining the performance of robot systems. PHM can provide the techniques and tools to support the specification of a robot’s present and future health state and optimization of maintenance strategies. This paper presents the robotic PHM research and the development of a quick health assessment at the U.S. National Institute of Standards and Technology (NIST). The research effort includes the advanced sensing development to measure the robot tool center position and orientation; a test method to generate a robot motion plan; an advanced robot error model that handles the geometric/nongeometric errors and the uncertainties of the measurement system, and algorithms to process measured data to assess the robot’s accuracy degradation. The algorithm has no concept of the traditional derivative or gradient for algorithm converging. A use case is presented to demonstrate the feasibility of the methodology.

scholarly journals Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Sébastien Briot ◽  
Lila Kaci ◽  
Clément Boudaud ◽  
David Llevat Pamiès ◽  
Pauline Lafoux ◽  
...  
Keyword(s):  
Design Process ◽  
Mechanical Design ◽  
Control Strategies ◽  
Industrial Robot ◽  
Integrated Design ◽  
Industrial Robots ◽  
Stiffness Ratio ◽  
Robot Accuracy ◽  
Integrated Design Process ◽  
Accuracy Performance

Abstract This article investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design’s purpose. Wood is a material with low environmental impact and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. To guarantee stiffness and accuracy performance of a wooden robot, we propose an integrated design process combining (i) proper wood selection, (ii) adequate sensor-based control strategies to ensure robot accuracy, and (iii) a robust design approach dealing with wood uncertainties. Based on the use of this integrated design process, a prototype of a wooden five-bar mechanism is designed and manufactured. Experimental results show that it is realistic to design a wooden robot with performance compatible with industry requirements in terms of stiffness (deformations lower than 400 μm for 20 N loads) and accuracy (repeatability lower than 60 μm), guaranteed in a workspace of 800 mm × 200 mm. This study provides a first step toward the eco-sustainable mechanical design of robots.

Measurement of 2D Positioning “Error Map” of a SCARA-Type Robot Over the Entire Workspace by Using a Laser Interferometer and a PSD Sensor

2020 ◽  
Author(s):  
Masatoshi Tomita ◽  
Soichi Ibaraki
Keyword(s):  
Laser Interferometer ◽  
Industrial Robot ◽  
Positioning Error ◽  
Dimensional Error ◽  
Absolute Positioning ◽  
Psd Sensor ◽  
Position Sensitive ◽  
Set Up ◽  
Original Line ◽  
The Given

Abstract Compared to positioning repeatability, the “absolute” positioning accuracy of an industrial robot is often significantly worse. In this paper, we propose a method to measure the 2D absolute positioning error of a SCARA robot. Over the given laser line, the linear positioning deviation and the straightness deviation are measured by using a laser interferometer and a position sensitive detector (PSD), respectively. Then, multiple laser lines are set up by using an optical square such that the parallelism or the squareness to the original line can be ensured. By similarly measuring linear positioning and straightness deviations over these laser lines, the robot’s 2D positioning error can be visually represented as a two-dimensional error map.

scholarly journals Study on Measurement of Spatial Motion Trajectory Based on Laser Tracing Measurement System

2011 ◽  
Vol 2-3 ◽  
pp. 358-361
Author(s):  
Da Zhong Guo ◽  
Yuan Yuan Zou ◽  
Si Jun Zhu ◽  
Ming Yang Zhao
Keyword(s):  
High Speed ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Linear Measurement ◽  
Detection Accuracy ◽  
Position Measurement ◽  
High Detection ◽  
Photo Detection ◽  
Positional Precision ◽  
Speed Response

In this paper an approach of measuring the positional precision of the execution terminal of the industrial robot is introduced, and the approach based on a non-contact laser tracing measurement has the advantage of high-speed response, high detection accuracy and non-contact measurement. This method utilizes the linear motion units and photo detection units to trace the target actively. The measurement of the target coordinates are measured with the laser interferometer linear measurement module and the grating ruler. This system can achieve the position measurement of the planar motion objects without contact in real-time condition and also possesses the high precision.

scholarly journals A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

2021 ◽  
Author(s):  
Juan Sebastian Toquica ◽  
José Maurı́cio Motta
Keyword(s):  
Industrial Robot ◽  
Low Cost ◽  
Kinematic Model ◽  
Measurement Data ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Robot Calibration ◽  
High Precision Measurement ◽  
Measurement Systems ◽  
Robot Accuracy

Abstract This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

Modeling and assessment of the backlash error of an industrial robot

Robotica ◽  
2012 ◽  
Vol 30 (7) ◽  
pp. 1167-1175 ◽  
Author(s):  
Mohamed Slamani ◽  
Albert Nubiola ◽  
Ilian A. Bonev
Keyword(s):  
Experimental Approach ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Statistical Tests ◽  
Measurement Instrument ◽  
Statistical Analyses ◽  
Serial Robot ◽  
Robot Configuration ◽  
The Relationship ◽  
Backlash Error

SUMMARYThis paper proposes an experimental approach for evaluating the backlash error of an ABB IRB 1600 industrial serial robot under various conditions using a laser interferometer measurement instrument. The effects of the backlash error are assessed by experiments conducted on horizontal and vertical paths. A polynomial model was used to represent the relationship between the backlash error and the robot configuration. A strategy based on statistical tests was developed to choose the degree of polynomial representing the effect of the tool center point (TCP) speed and payload. Results show that the backlash error strongly affects the repeatability of the industrial robot. Statistical analyses prove that the backlash is highly dependent on both robot configuration and TCP speed, whereas it remains nearly unaffected by changes in the payload. It was discovered that the backlash error as measured at the TCP may exceeds 100 μm, and that the positive backlash error increases and the negative backlash error decreases when there is increase in TCP speed.

Optimal Method on the Compensation for Inverse Kinematics of Robot

2014 ◽  
Vol 511-512 ◽  
pp. 834-837
Author(s):  
Liang Du ◽  
Xiao Liang Dai
Keyword(s):  
High Precision ◽  
Inverse Kinematics ◽  
Joint Angle ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Laser Tracker ◽  
Optimal Method ◽  
Working Space ◽  
Robot Accuracy

Its hard to define base coordinate of industrial robot because base coordinate of robot in its inner. This article used Laser tracker system (LTS) to test its distance accuracy. Simultaneously, it is hard to must modify the controller of the robot, even though the robot kinematic compensation is high precision. Therefore, it used inverse kinematic compensation to compensate robot error by optimal method. Experiment results demonstrate that it can improve the robot accuracy in the working space, only modifies joint angle.

A comparative evaluation of three industrial robots using three reference measuring techniques

2015 ◽  
Vol 42 (6) ◽  
pp. 572-585 ◽  
Author(s):  
Mohamed Slamani ◽  
Ahmed Joubair ◽  
Ilian A. Bonev
Keyword(s):  
Manufacturing Systems ◽  
Tool Path ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Laser Tracker ◽  
Specific Test ◽  
Reference Measuring ◽  
Content Type ◽  
Robot Selection

Purpose – The purpose of this paper is to present a technique for assessing and comparing the static and dynamic performance of three different models of small six-axis industrial robots using a Renishaw XL80 laser interferometer system, a FARO ION laser tracker and a Renishaw QC20-W telescoping ballbar. Design/methodology/approach – Specific test methods are proposed in this work, and each robot has been measured in a similar area of its working envelope. The laser interferometer measurement instrument is used to assess the static positioning performance along three linear and orthogonal paths. The laser tracker is used to assess the contouring performance at different tool center point (TCP) speeds along a triangular tool path, whereas the telescoping ballbar is used to assess the dynamic positioning performance for circular paths at different TCP speeds and trajectory radii. Findings – It is found that the tested robots behave differently, and that the static accuracy of these non-calibrated robots varies between 0.5 and 2.3 mm. On the other hand, results show that these three robots can provide acceptable corner tracking at low TCP speeds. However, a significant overshoot at the corner is observed at high TCP speed for all the robots tested. It was also found that the smallest increment of Cartesian displacement (Cartesian resolution) that can be taken by the tested robots is approximately 50 μm. Practical implications – The technique used in this paper allows extremely accurate diagnosis of the robot performance, which makes it possible for the robot user to determine whether the robot is in good or bad condition. It can also help the decision-maker to select the most suitable industrial robot to achieve the desired task with minimum cost and specific application ability. Originality/value – This paper proposed a new method based on the performance verification approach for solving the robot selection problem for flexible manufacturing systems. Furthermore, despite their importance, bidirectional repeatability and Cartesian resolution are never specified by the manufacturers of industrial robots nor are they described in the ISO 9283:1998 guide, and they are rarely the object of performance assessments. In this work, specific tests are performed to check and quantify the bidirectional repeatability and the Cartesian resolution of each robot.

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