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Abstract
Robots are being used in many areas. The robot performance constraints are repeatability and accuracy. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots. Robot calibration is a term applied to the procedure used in determining actual values which describe the geometric dimensions and mechanical characteristics of a robot. The robot accuracy evaluation method is introduced. The study proposed a technique to analyze robot’s orientation error by using the data measured during circle contouring movement of the articulated robot end effectors. New measuring method is proposed to measure orientation errors. Circle contouring measurements were also undertaken to assess the significance of multi-axis movements on the accuracy of the end effector. The paper describes the experimental and theoretical accuracy characteristics of an articulated robot. Also, the technique devised using a simulation program for the robot geometry, together with results from a circular test, enables robot errors to be characterized in terms of orientation error and volumetric error. Close correlation was obtained between the experimental and theoretical results. Also, robot pose error was shown a significant factor influencing the accuracy of the robot end effector. Proposed techniques are useful to set up the articulated robot in the industrial site.
Highlights
Articulated robots are being used in many areas where accuracy and kinematic performance can be crucial, for example in part assembly, drilling, deburring, and welding
The specifications quoted by the manufacturers, are generally not sufficient to determine the process capability of the robot required
Achieving a robot end effector whose position theorientation orientationand andposition positionof ofthe therobot robotend endeffector effectorsimultaneously simultaneouslyisisdifficult difficultdue dueto tothe thelimitations limitations the pose is parallel to the XY plane, is limited to a maximum circle radius of 70 mm
Summary
Articulated robots are being used in many areas where accuracy and kinematic performance can be crucial, for example in part assembly, drilling, deburring, and welding These operations require performance that was needed on robot system. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots in order to make the appropriate selection [1,2,3,4,5,6,7] During their life robots may require maintenance which may involve changing encoders etc. The first step is to choose the mathematical model that will improve the representation of the position and orientation of the robot end-effector This mathematical model is a function of the robot joint angles and takes into account the error parameters that need to be modeled. The experimental verification of the strategy will be undertaken on a standard six axes industrial robot and the effect of orientation errors on the kinematics is theoretically simulated and analyzed
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