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

Abstract

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.