Effect of Servo Systems on the Contouring Errors in Industrial Robots

Slamani, M.; Nubiola, Albert; Bonev, Ilian A.

doi:10.1139/tcsme-2012-0006

Cited by 15 publications

(10 citation statements)

References 14 publications

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“…Friction is one of the major limitations in performing high-precision manipulation tasks, as it affects both static and dynamic contouring performance and may cause instability when coupled with position or force feedback control (Lischinsky et al, 1997). Slamani et al (2012c) proposed a novel approach for the dynamic assessment of industrial robots. The Renishaw QC20-W telescoping ballbar is used to capture the end-effector position errors dynamically along a circular path in terms of time.…”

Section: Assessment Of the Dynamic Accuracy Of Industrial Robotsmentioning

confidence: 99%

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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 Dynamic Accuracy Of Industrial Robotsmentioning

confidence: 99%

“…It is relatively inexpensive, easy to use and highly accurate. The use of the telescopic ballbar for the dynamic assessment of industrial robots when several axes are driven simultaneously remains an active topic of research (Nubiola et al, 2014;Slamani et al, 2012c).…”

Section: Introductionmentioning

confidence: 99%

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

Slamani

Joubair

Bonev

2015

Industrial Robot: An International Journal

Self Cite

View full text Add to dashboard Cite

show abstract

“…They are employed in manufacturing [1], transportation [2], aerospace industry [3], automation, and robotic industries [4,5], bioengineering, and other.…”

Section: Introductionmentioning

confidence: 99%

Mathematical models and nonlinear dynamics of a linear electromagnetic motor

Gajek

Awrejcewicz

2018

Nonlinear Dyn

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The aim of this paper was to construct a mathematical model of a drive system with ironless permanent magnet synchronous linear motor and to animalize the influence of the magnetic field distribution function on the model's accuracy and ease of simulation computation. The studied motor employs an U-shaped stationary guideway with permanent magnets placed perpendicularly to the motor's direction of motion and a forcer with three sets of rectangular coils subjected to alternating external electrical voltage. The system's parameters are both mechanical (number of magnets and coils, size of magnets, distances between magnets, size of coils) and electromagnetic (auxiliary magnetic field, permeability, coil's resistance). Lorentz force allows for the transition from electromagnetic parameters to mechanical force, and Faraday's law of induction creates a feedback between the forcer's speed and coils voltage. An Ampere's model of permanent magnet is used to determine the function of auxiliary magnetic field distribution throughout the stator. Two simplified distribution functions are introduced and studied. During validation, external current function is applied to each coil (serving as excitation), while the displacement of forcer in time is the output function. Model parameters are found via genetic algorithms such that the numerical solution of the model best fits experimen-

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“…This gives an industrial robot user the ability to decide what measurement device to use. Papers published in this field are presenting various measuring devices in connection with the measurement of the performance characteristics, such as a dial digital indicator [3,4], laser interferometer [5,6], laser tracker [7,8], camera systems [9] and a Ballbar [10,11].…”

Section: Introductionmentioning

confidence: 99%

Determination of the Industrial Robot Positioning Performance

et al. 2017

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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.

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Effect of Servo Systems on the Contouring Errors in Industrial Robots

Cited by 15 publications

References 14 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

Mathematical models and nonlinear dynamics of a linear electromagnetic motor

Determination of the Industrial Robot Positioning Performance

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