A Survey of Current Robot Metrology Methods

Lau, K.; Hocken, Robert J.

doi:10.1016/s0007-8506(16)30009-9

Cited by 11 publications

(13 citation statements)

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“…In order to assess the accuracy and repeatability of the ball bar the following tests were performed: (1) (2) Linear Displacement Test (3) Radius Test (4) Sag Test Probe Calibration and Acceptance Test…”

Section: Determination Of the Ball Bar Measuring Accuracymentioning

confidence: 99%

An extensible ball bar for evaluation of robots' positioning performance

Vira

Lau

1987

J. Robotic Syst.

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This article describes the development of a one-dimensional extensible ball bar designed to measure the positioning accuracy and repeatability of industrial robots. The ball bar has a linear travel of 5 cm (2 in) that is monitored by a built-in electronic transducer having a resolution of 2.5 pm (0.0o01 in). At each end of the bar is a precision steel sphere, one of which is attached to an universal joint mounted on a robot's wrist. The other steel ball is magnetically attached to a socket which is firmly located within the work zone of the robot. During the measuring process the robot wrist is programmed to move in an arc whose radius is the nominal length of the bar. The variation of the length of the bar is recorded from the linear transducer and used to obtain a one-dimensional measurement of the positioning poerformance of the robot. Linear displacement and sag tests indicate that the ball bar has an accuracy of 32 pm (0.0013 in) and a repcatability of 20 pm (0.0008 in). Test procedures to evaluate a robot's performance are also presented.

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Section: Determination Of the Ball Bar Measuring Accuracymentioning

confidence: 99%

An extensible ball bar for evaluation of robots' positioning performance

Vira

Lau

1987

J. Robotic Syst.

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“…Robots from the same production batch, with identical specifications, can demonstrate different characteristics when operated under different conditions (different loads, speeds, durations, temperature, etc.). Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots in order to make the appropriate selection [1][2][3][4][5][6][7]. During their life robots may require maintenance which may involve changing encoders etc.…”

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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“…Many robot calibration methods have been introduced. [1][2][3]16,17 One of the first pose measurement devices, made by R. H. McEntire 4 is an arrangement of three pairs of dial gauges, which detect three mutually perpendicular faces of a cube, held in the end effector. Research by P. G. Ranky 5 follows the original concept of attaching a cube to the robot end effector and describes a pose measurement device utilising nine dial gauges.…”

Section: Introductionmentioning

confidence: 99%

Robot accuracy evaluation using a ball-bar link system

2011

Robotica

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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.

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A Survey of Current Robot Metrology Methods

Cited by 11 publications

References 0 publications

An extensible ball bar for evaluation of robots' positioning performance

An extensible ball bar for evaluation of robots' positioning performance

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

Robot accuracy evaluation using a ball-bar link system

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