Measurement of Industrial Robot Trajectories With Reorientations

Abstract

The increasing use of industrial robots in different applications raises the demand of the robots performance. This yields to the request for reliable data for the performance characteristics of industrial robots. In this paper a measurement solution for dynamic industrial robot motion measurement with a significant amount of reorientations is presented. The proposed method uses an optical coordinate measurement system with light emitting diodes (LEDs) as active markers. The reorientations of the robots tool increases the difficulty of temporary occlusion of markers, disappearance of markers and reappearance of previously hidden markers. An automated marker registration system based on quality evaluation for single LED measurements has been developed to allow flexible maker setups and decrease the possibility of measurement errors. To interpret the measurement data, an additional error metric for the according ISO standard for measuring robot motion is proposed.

Verification of the UR5 robot’s properties after a crash caused by a fall of a transferred load from a crane

“…For a given position, it represents the RP value, which is the radius of the sphere whose centre is the barycentre and which is calculated as the scatter of angles 3S a , 3S b and 3S c around the mean values a , true¯ b true¯ and c true¯ where S a , S b and S c are standard deviations. 15,16 The following applies…”