Static and dynamic accuracy and process capability tests for industrial robots

摘要

Flexible automation today requires robot systems with high accuracy. Modern industrial robots deal with offline programming, copying programs between similar working cells, reflecting programs or image-processing for 3D-pose estimation. For all of these tasks, a high accuracy of the robot is strongly needed. This accuracy affects not only the absolute and the repeating accuracy of the robot as its static characteristics, but also the dynamic accuracy during movements along specified paths, e.g. straight lines or circles. In this paper, a new method for analyzing the accuracy of industrial robots in positioning and process capability will be shown, according to the european standard EN ISO 9283 and modified by the needs of the customer. Additionally, a real-time system for analyzing the process capability of industrial robots is presented, provided with some example analyses of robots from various manufacturers.