Abstract
To assess robots' end-point positioning accuracy and repeatability, a Spherical Coordinate Automatic Measurement (SCAM) system that is currently under development at the National Institute of Standards and Technology (NIST) formerly the National Bureau of Standards—is presented. The system has been designed to be interfaced with a personal computer for on-line analysis of three-dimensional static, as well as kinematic, positioning performance. The SCAM system has a spherical work envelope that is monitored by a built-in linear transducer with a resolution of 2.5 μm and two angular optical encoders of 0.005 accuracy. The measurement device is inexpensive and well-suited for calibration and diagnosis of small or medium-sized robots. Tests have indicated that the measurement system can sense the robot end effector with 34 μm accuracy and 32 μm repeatability. The SCAM system, when affixed to the robot end effector for testing, exerts an external load on the end effector (nature of the contact-type measurement technique). Because of this drawback, its applicability is limited; specifically, when no-load test condition results are desired. However, its reliability and simplicity in design make it a powerful and economical tool for robot positioning testing.
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