Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-15T17:13:14.230Z Has data issue: false hasContentIssue false
  • English
  • Français

Robot accuracy evaluation using a ball-bar link system

Published online by Cambridge University Press:  15 March 2011

Yeon Taek Oh
Yeon Taek Oh*
Affiliation:
Mechatronics & Manufacturing Technology Center, Samsung Electronics Co., Ltd., Suwon, Korea
*
*E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Relatively large errors can exist in industrial robots as a result of mismatch between the controller model and the corresponding physical model. The paper outlines a novel approach for accuracy assessment and adjustment of multiaxis industrial robots through a low-cost ball-bar link system. The features of the ball-bar, which incorporated a 12 mm range digital displacement transducer in conjunction with a PC, are discussed. The ball-bar device was used in both a trammelling and circular mode of operation. This produced data which not only related to the accuracy of the robot but also enabled joint errors to be significantly reduced.

Keywords

Robot calibrationBall-barRobot accuracyRobot modellingAngle error
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 917 - 927
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Brussel, H. V., “Evaluation and testing of robots,” Ann. CIRP 39 (1), 657–664 (1990).CrossRefGoogle Scholar
2.Lau, K. and Hocken, J., “A survey of current robot metrology methods,” Ann. CIRP 32 (2), 485–488 (1984).CrossRefGoogle Scholar
3.Warnecke, H. J., Weck, M., Brodbeck, B. and Engel, G., “Assessment of industrial robots,” Ann. CIRP 29 (1), 391–396 (1980).CrossRefGoogle Scholar
4.McEntire, R. H., “Three dimensional accuracy measurement methods for robots,” Ind. Robot 3, 105–112 (1976).CrossRefGoogle Scholar
5.Ranky, P. G., “Test method and software for robot qualification,” Ind. Robot 11 (2), 110–118 (1984).CrossRefGoogle Scholar
6.Riley, D. L., “Robot Calibration and Performance Specification Determination,” Proceedings of the 17th International Symposium on Industrial Robots, Chicago, Illinois (Apr. 1987) pp. 10–1/17.Google Scholar
7.Fohanno, T., “Assessment of mechanical performance of industrial robots,” International Symposium on Industrial robots, 12the Proceeding, and 6th International Conference on Industrial Robot Technology, Paris, France (Jun. 9–11, 1982) pp. 349–358.Google Scholar
8.Lau, K., Hocken, R. and Haight, W., “Automatic laser tracking interferometer system for robot metrology,” Precis. Eng. 8 (1), 3–8 (1986).CrossRefGoogle Scholar
9.Bryan, J. B., “A simple method for testing measuring machines and machine tools, Part 1: Principles and applications,” Precis. Eng. 4 (2), 61–69 (1982).CrossRefGoogle Scholar
10.Vira, N. and Lau, K., “Design and Testing of an Extensible Ball Bar for Measuring the Positioning Accuracy and Repeatability of Industrial Robots,” Proceedings of the 14th North American Manufacturing Research Conference, Minnesota (1986) pp. 583–590.Google Scholar
11.Slocum, A. and Donmez, A., “Kinematic coupling for precision fixture-Part 2-experimental determination of repeatability and stiffness,” Precis. Eng. 10 (3), 112–115 (1988).Google Scholar
12.Schlesingler, G., Testing Machine Tools (Pergamon Press, Oxford, England 1978).Google Scholar
13.Park, J., Assessment of Machine Tool Accuracy Testing Device for Machine Tools Ph.D. Thesis (Manchester, England UMIST, 1989).Google Scholar
14.Jywe, W., A Computer-Aided Accuracy Testing Device for Machine Tools Ph.D. Thesis (Manchester, England UMIST, 1992).Google Scholar
15.Oh, Y. T., Evaluation of the Accuracy Performance of the Industrial Robots Ph.D. Thesis (Manchester, England UMIST, 1997).Google Scholar
16.Chen, H., Fuhlbrigge, T., Choi, S., Wang, J. and Li, X., “Practical Industrial Robot Zero Offset Calibration,” Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference, Arlington, VA (2008) pp. 516–521.Google Scholar
17.Lei, S., Jingtai, L., Weiwei, S., Shuihua, W. and Xingbo, H. “Geometry-Based Robot Calibration Method,” Robotics and Automation, 2004, Proceedings, ICRA '04, 2004 IEEE International Conference, vol. 2 (2004) pp. 1907–1912.Google Scholar