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Modeling and assessment of the backlash error of an industrial robot

Published online by Cambridge University Press:  16 January 2012

Mohamed Slamani ,
Albert Nubiola  and
Ilian A. Bonev
Mohamed Slamani
Affiliation:
École de Technologie Supérieure, Montreal, QC, Canada
Albert Nubiola
Affiliation:
École de Technologie Supérieure, Montreal, QC, Canada
Ilian A. Bonev*
Affiliation:
École de Technologie Supérieure, Montreal, QC, Canada
*
*Corresponding author. E-mail: [email protected]
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Summary

This 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.

Keywords

Serial industrial robotBacklashRepeatabilityLaser interferometerStatistical tests
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1167 - 1175
Copyright
Copyright © Cambridge University Press 2012

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