Affiliation:
1. Institute of Manufacturing Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
Abstract
An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering
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