The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.
Analytical Intelligence is a set of methods and tools for acquisition and transformation of raw data into meaningful and useful information. Multicriterial diagnostics is an approach to obtain a real status of machining process just in time and produce a big pile of raw data. The paper presents a scheme of utilisation of analytical intelligence tools in multicriterial diagnostic of CNC machine tools. It is an effort to obtain a complex perception about all influences represented with measured data on machine precision.
Abstract. Position performance is one of most important parameters in terms industrial robotics and CNC machine tools. These performance criteria are changed during machine operation and therefore it is necessary to measure device parameters in regular intervals. This measurement should be as fast and easy as possible. In the case of CNC machine tools, the Renishaw Ballbar device is commonly used for such purposes. This device fits both requirements regardless it does not offer same amount of useful information for CNC machine tools and industrial robots that require special approach to measurement and data analysis which is main topic of presented article.
The article deals with measurement of pose repeatability of industrial robot Fanuc LR Mate 200iC. Laser interferometer Renishaw XL-80 and digital indicator Mitutoyo Absolute Digimatic ID-F are used for the measurement. The measurement methodology is based on so-called ISO cube placed in the most used part of robot workspace. Individual steps of the solution, the analysis of measurement data and results are presented in the article.
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