Application of the FARO laser tracker to the study of selected functional characteristics of a Kawasaki ZD130 industrial robot

• Autorzy: Ćwiąkała P. , Cisińska A. , Szotek S.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the test results of the following functional characteristics of a Kawasaki ZD130 industrial robot: the accuracy and repeatability of unidirectional positioning, the variance of multidirectional positioning and the accuracy and repeatability of distance. The influence of the speed of movement and load on the values of aforementioned functional characteristics was also examined. Measurements were made with the FARO Laser Tracker Vantage coordinate measuring machine. The research was conducted in accordance with the PN-EN ISO 9283:2003 standard.

Słowa kluczowe

EN

industrial robots; laser tracker; accuracy; precision

• Wydawca: Wydawnictwo PAK
• Czasopismo: Measurement Automation Monitoring
• Rocznik: 2015
• Tom: Vol. 61, No. 10
• Strony: 475--479
• Opis fizyczny: Bibliogr. 11 poz., rys., tab., wykr.

Twórcy

autor

Ćwiąkała P.

• AGH University of Science and Technology, Department of Engineering Surveying and Civil Engineering, 30 A. Mickiewicza Ave., 30-059 Kraków

autor

Cisińska A.

• AGH University of Science and Technology, Department of Engineering Surveying and Civil Engineering, 30 A. Mickiewicza Ave., 30-059 Kraków

autor

Szotek S.

• AGH University of Science and Technology, Department of Engineering Surveying and Civil Engineering, 30 A. Mickiewicza Ave., 30-059 Kraków

Bibliografia

• [1] Honczarenko J.: Roboty przemysłowe. Badania i zastosowanie, Wydawnictwo Naukowo-Techniczne, Warszawa, 2010.
• [2] Norma PN-EN ISO 8373:2001.
• [3] Norma PN-EN ISO 9283:2003.
• [4] Norma PN-EN ISO 9787: 1999.
• [5] Shiakolas P. S., Conrad K.L., Yih T. C.: On the accuracy, repeatability, and degree of influence of kinematics parameters for industrial robots. International Journal of Modelling and Simulation, vol. 22, no. 3, pp. 245-254, 2002.
• [6] Ratajczyk E.: Zaawansowane pomiary współrzędnościowe w technikach wytwarzania. Measurement Automation and Monitoring, vol. 53, no. 9bis, pp. 9–16, 2007.
• [7] Driels M. R., Swayze W., Potter S.: Full-pose calibration of a robot manipulator using a coordinate-measuring machine. The International Journal of Advanced Manufacturing Technology, vol. 8, issue 1, pp. 34-41, 1993.
• [8] Nubiola A., Slamani M., Joubair A.: Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker. Robotica, vol. 32, issue 03, pp. 447-466, 2014.
• [9] Nubiola A., Bonev I. A.: Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robotics and Computer-Integrated Manufacturing, vol. 29, issue 1, pp. 236-245, 2013.
• [10] http://www.astor.com.pl/produkty/robotyzacja/roboty-kawasaki/seria-z-roboty-paletyzujace.html#jkefel-1-4 (available: 14.07.2015 r.)
• [11] http://www.faro.com/pl-pl/produkty/metrologia/faro-laser-tracker/ przeglad#main (available: 14.07.2015 r.)