Influence of drift on robot repeatability and its compensation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10248255" target="_blank" >RIV/61989100:27230/21:10248255 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2076-3417/11/22/10813" target="_blank" >https://www.mdpi.com/2076-3417/11/22/10813</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app112210813" target="_blank" >10.3390/app112210813</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Influence of drift on robot repeatability and its compensation

Popis výsledku v původním jazyce

This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures. (C) 2021 by the authors. Licensee MDPI, Basel, Switzerland.

Název v anglickém jazyce

Influence of drift on robot repeatability and its compensation

Popis výsledku anglicky

This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures. (C) 2021 by the authors. Licensee MDPI, Basel, Switzerland.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20300 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

22

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

16

Strana od-do

—

Kód UT WoS článku

000727421200001

EID výsledku v databázi Scopus

2-s2.0-85119606673