Robot accuracy evaluation using a ball-bar link system

Oh, Yeon Taek

doi:10.1017/s0263574711000130

Cited by 9 publications

(7 citation statements)

References 9 publications

(11 reference statements)

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“…He also took circle contouring measurements using a telescopic ballbar to assess the significance of multiaxis movements on the accuracy of the end effector. In his second paper (Oh, 2011b), he proposes a technique for characterizing the robot error in terms of datum location error and backlash error based on some of these ballbar tests. His experimental investigation shows that significant error components result from datum location error.…”

Section: Assessment Of the Static Accuracy Of Industrial Robotsmentioning

confidence: 99%

A comparative evaluation of three industrial robots using three reference measuring techniques

Slamani

Joubair

Bonev

2015

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to present a technique for assessing and comparing the static and dynamic performance of three different models of small six-axis industrial robots using a Renishaw XL80 laser interferometer system, a FARO ION laser tracker and a Renishaw QC20-W telescoping ballbar. Design/methodology/approach – Specific test methods are proposed in this work, and each robot has been measured in a similar area of its working envelope. The laser interferometer measurement instrument is used to assess the static positioning performance along three linear and orthogonal paths. The laser tracker is used to assess the contouring performance at different tool center point (TCP) speeds along a triangular tool path, whereas the telescoping ballbar is used to assess the dynamic positioning performance for circular paths at different TCP speeds and trajectory radii. Findings – It is found that the tested robots behave differently, and that the static accuracy of these non-calibrated robots varies between 0.5 and 2.3 mm. On the other hand, results show that these three robots can provide acceptable corner tracking at low TCP speeds. However, a significant overshoot at the corner is observed at high TCP speed for all the robots tested. It was also found that the smallest increment of Cartesian displacement (Cartesian resolution) that can be taken by the tested robots is approximately 50 μm. Practical implications – The technique used in this paper allows extremely accurate diagnosis of the robot performance, which makes it possible for the robot user to determine whether the robot is in good or bad condition. It can also help the decision-maker to select the most suitable industrial robot to achieve the desired task with minimum cost and specific application ability. Originality/value – This paper proposed a new method based on the performance verification approach for solving the robot selection problem for flexible manufacturing systems. Furthermore, despite their importance, bidirectional repeatability and Cartesian resolution are never specified by the manufacturers of industrial robots nor are they described in the ISO 9283:1998 guide, and they are rarely the object of performance assessments. In this work, specific tests are performed to check and quantify the bidirectional repeatability and the Cartesian resolution of each robot.

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Section: Assessment Of the Static Accuracy Of Industrial Robotsmentioning

confidence: 99%

A comparative evaluation of three industrial robots using three reference measuring techniques

Slamani

Joubair

Bonev

2015

Industrial Robot: An International Journal

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“…Gan et al [20] measured robot positioning errors utilizing a position measurement system comprising 4 drawstring displacement sensors. Oh [21] constructed a ballbar link system derived from the original ballbar, enabling evaluation of robot accuracy.…”

Section: Introductionmentioning

confidence: 99%

Drilling errors compensation of industrial robot based on 3D passive scale tracker

Lou,

Zhou,

Zhang

et al. 2024

Meas. Sci. Technol.

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In order to increase the machining accuracy of industrial robots, a drilling system based on a 3D passive scale tracker (3DPST) and Epson industrial robot was established. The real-time positioning errors of the robot were measured by 3DPST, and the orientation errors were analyzed according to position coordinates on a circular path. Therefore, the 6-DOF pose errors of the robot were measured. Building upon this foundation, a cyclic compensation method for robot pose errors was proposed. This method prioritizes the compensation of orientation errors followed by the compensation of positioning errors. Robot circular path tests and drilling experiments of aluminum alloy and plexiglass materials are carried out to verify the effectiveness of the error measurement compensation method. The results of Coordinate Measuring Machine (CMM) measurements indicate that, after robot error compensation, the machining accuracy of the machined holes in both materials is significantly improved. The positioning errors of the machined holes for aluminum alloy decreases from the range of 1.188~1.576 mm to 0.154~0.215 mm, while for plexiglass, it decreases from 1.226~1.437mm to 0.132~0.183 mm.

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“…Unless a re-datuming technique is available then the accuracy could differ significantly from that achieved prior to the maintenance. To achieve the previous performance, re-teaching or re-datuming may be required [8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Geometric errors in robots, i.e., errors in joint angles and datum location error, are considered to be the main sources of position error [8,21]. The repeatability errors are non-geometric; these include gear transmission error, joint drive compliance, backlash, bearing, and encoder inaccuracy.…”

Section: Introductionmentioning

confidence: 99%

Study of Orientation Error on Robot End Effector and Volumetric Error of Articulated Robot

2019

Applied Sciences

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Robots are being used in many areas. The robot performance constraints are repeatability and accuracy. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots. Robot calibration is a term applied to the procedure used in determining actual values which describe the geometric dimensions and mechanical characteristics of a robot. The robot accuracy evaluation method is introduced. The study proposed a technique to analyze robot’s orientation error by using the data measured during circle contouring movement of the articulated robot end effectors. New measuring method is proposed to measure orientation errors. Circle contouring measurements were also undertaken to assess the significance of multi-axis movements on the accuracy of the end effector. The paper describes the experimental and theoretical accuracy characteristics of an articulated robot. Also, the technique devised using a simulation program for the robot geometry, together with results from a circular test, enables robot errors to be characterized in terms of orientation error and volumetric error. Close correlation was obtained between the experimental and theoretical results. Also, robot pose error was shown a significant factor influencing the accuracy of the robot end effector. Proposed techniques are useful to set up the articulated robot in the industrial site.

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Robot accuracy evaluation using a ball-bar link system

Cited by 9 publications

References 9 publications

A comparative evaluation of three industrial robots using three reference measuring techniques

A comparative evaluation of three industrial robots using three reference measuring techniques

Drilling errors compensation of industrial robot based on 3D passive scale tracker

Study of Orientation Error on Robot End Effector and Volumetric Error of Articulated Robot

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