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Aspects of robot repeatability

Published online by Cambridge University Press:  09 March 2009

B. W. Mooring  and
T. J. Pack
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Summary

One of the most important specifications associated with a robot manipulator is repeatability. Unfortunately, there are no standard procedures for determining or specifying the repeatability of a robot. This situation has resulted in a good deal of confusion when attempting to use a published repeatability specification to determine if a robot will meet the requirements of an application.

The purpose of this paper, therefore, is to propose a systematic procedure for the determination and specification of robot repeatability. To accomplish this, three aspects of repeatability analysis are examined. First, a method of collecting data to study repeatability is discussed. A data acquisition system is described as well as an associated test procedure. Next, a procedure for utilizing the acquired data to develop a repeatability specification for a robot is proposed. This procedure results in a specification of the robot's ability to orient objects as well as the classical specification for positioning repeatability. A methodical approach to determining where in the workspace the repeatability test should be made is also addressed. Finally, an approach is presented whereby the data collected during the repeatability test may be used to determine which joints contribute most to the variations in robot repeatability.

Keywords

RobotRepeatability
Type
Article
Information
Robotica , Volume 5 , Issue 3 , July 1987 , pp. 223 - 230
Copyright
Copyright © Cambridge University Press 1987

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References

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