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Thermal drift and backlash issues for industrial robots positioning performance

Published online by Cambridge University Press:  28 March 2022

Adrien Le Reun Open the ORCID record for Adrien Le Reun [Opens in a new window] ,
Kévin Subrin ,
Anthony Dubois  and
Sébastien Garnier
Adrien Le Reun
Affiliation:
Nantes University, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004, F-44000, Nantes, France CEA Tech Pays de la Loire et Bretagne, CEA, CEA Tech Pays de la Loire, Bouguenais, France
Kévin Subrin*
Affiliation:
Nantes University, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004, F-44000, Nantes, France
Anthony Dubois
Affiliation:
CEA Tech Pays de la Loire et Bretagne, CEA, CEA Tech Pays de la Loire, Bouguenais, France
Sébastien Garnier
Affiliation:
Nantes University, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004, F-44000, Nantes, France
*
*Corresponding author. E-mail: [email protected]
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Abstract

Robot positioning performance is studied in the scope of a robotized X-ray computed tomography application on a ABB IRB4600 robot. The robot has the “absolute accuracy” option, that is, the manufacturer has identified the manufacturing defects and included them in the robot control. Laser-tracker measurement on a 6.5-h long linear trajectory shows thermal drift and backlash issues, affecting the positioning unidirectional repeatability and bidirectional accuracy. A thermo-geometrical model with backlash compensation is developed. Geometrical calibration improves the forwards unidirectional mean accuracy from 1.39 to 0.06 mm between theoretical and optimized geometrical parameters with a stable thermal state. Thermo-geometrical calibration reduces the positioning scattering from a maximum of 0.15 to 0.05 mm (close to the repeatability of the robot). Backlash compensation improves the bidirectional mean accuracy from 1.53 to 0.07 mm.

Keywords

X-ray Computed Tomographyrobot positioningthermal driftbacklash
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 2933 - 2952
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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