Testing of an industrial robot’s accuracy and repeatability in off and online environment

• Autorzy: Płaczek M. , Piszczek Ł.

Identyfikatory

DOI

10.17531/ein.2018.3.15

Warianty tytułu

PL

Badania dokładności i powtarzalności pozycjonowania robota przemysłowego w środowiskach off i online

• Języki publikacji: EN PL

Abstrakty

EN

The paper discusses issues concerning the accuracy and repeatability tests of the positioning of the Kuka KR 16-2 industrial robot. The results of laboratory tests of an industrial robot, as well as a comparison of robot motion paths in the Robcad environment with the real robot motion paths are presented. In order to register movement paths in the laboratory conditions, the laser tracker Faro Vantage was used. Frequent necessity to correct programs of industrial robots created in the offline environment, is a results, among others, from the insufficient experience of people who carry out programming, the environment in which robots work and the parameters of the robots themselves, and therefore their accuracy and repeatability. It is connected with the extension of the start-up time and high costs. The work describes the measurement method and attempts to determine the influence of the type of route and motion parameters on the accuracy and repeatability of robot. The accuracy of mapping of simulated robot motion in a virtual environment was also verified.

PL

W pracy omówiono zagadnienia dotyczące badań dokładności i powtarzalności pozycjonowania robota przemysłowego Kuka KR 16-2. Przedstawiono wyniki badań laboratoryjnych robota przemysłowego, a także dokonano porównania ścieżek ruchu robota symulowanego w środowisku Robcad ze ścieżkami ruchu robota rzeczywistego. W celu rejestracji ścieżek ruchu w warunkach laboratoryjnych zastosowano laserowy tracker Faro Vantage. Częsta konieczność poprawy programów robotów przemysłowych utworzonych w środowisku offline wiąże się z wydłużeniem czasu uruchomienia i dużymi kosztami. W artykule opisano metodę pomiarów oraz podjęto próbę określenia wpływu rodzaju ścieżki dojazdu do punktów pomiarowych i parametrów ruchu na dokładność i powtarzalność pozycjonowania robota. Zweryfikowano także dokładność odwzorowania ruchu robota symulowanego w środowisku wirtualnym.

Słowa kluczowe

EN

industrial robot; offline programming; online programming; positioning accuracy; repeatability of positioning

PL

robot przemysłowy; programowanie offline; programowanie online; dokładność pozycjonowania; powtarzalność pozycjonowania

• Wydawca: Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne
• Czasopismo: Eksploatacja i Niezawodność
• Rocznik: 2018
• Tom: Vol. 20, no. 3
• Strony: 455--464
• Opis fizyczny: Bibliogr. 28 poz., rys. kolor.

Twórcy

autor

Płaczek M.

• Institute of Engineering Processes Automation and Integrated Manufacturing Systems Faculty of Mechanical Engineering Silesian University of Technology ul. Konarskiego 18A, 44-100 Gliwice, Poland

autor

Piszczek Ł.

• ProPoint SP. Z O.O. SP. K. [Ltd.] ul. Bojkowska 37R, 44-100 Gliwice, Poland

Bibliografia

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