Evaluation of articulated arm robot accuracy using a laser interferometer
Journal Title: Proceedings in Manufacturing Systems - Year 2017, Vol 12, Issue 3
Abstract
This article presents the first stage of the work performed by the authors regarding robot accuracy evaluation. This stage focuses on measuring the variations in robot's accuracy values during a linear movement of the tool along a direction parallel to the Y axis of the base frame. The experimental procedures were conducted using a Kawasaki FS 10 E articulated arm robot with six degrees of freedom and the measurements were done using a Renishaw ML10 laser interferometer. The accuracy values at various points on the trajectory were recorded using different movement speeds, in order to evaluate the influence of trajectory speed on the accuracy levels and the speed levels at which the robot can be programmed for precise tasks. Furthermore, the measurements were conducted for both the programmed path along the Y axis of the base frame and for the reversed trajectory. For results analysis, a comparison with previous experimental procedures regarding robot volumetric precision was made, including a study of precision levels across the robot's workspac, which was considered as a basis for these measurements. Future research directions include analyzing the accuracy levels of the robot along the X axis of the base frame and evaluating the repeatability of the arm, with the final goal being to apply a calibration procedure based on the experimental results in order to improve the overall volumetric precision of the robot
Authors and Affiliations
Andrei Mario Ivan, Radu Constantin Parpala, Laurențiu Popa, Cezara Coman
Keywords
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