Browse Publications Technical Papers 2014-01-2238
2014-09-16

Metrology Assisted Robotic Automation 2014-01-2238

Industrial robots are extremely good at repetitive tasks. They exhibit excellent repeatability, making them ideal candidates for many tasks. However, increasing use of CAD based offline programming highlights the fact that industrial robots are generally not accurate devices. Several approaches have been used to compensate for this deficiency. Robot calibration is well established and factory calibrated robots are available from most industrial robot manufacturers. This can improve the spatial accuracy of robots to figures better than 1mm which is adequate for most robot processes in use today. Improvements in accuracy beyond this point can be achieved if the working range of the robot is constrained in some way. For example, limiting a robot to working in a single plane or restricting the robot to a reduced work volume can contribute to significant improvements in accuracy. However, for applications requiring high accuracy without these constraints some additional control is needed. Systems have existed for several years that integrate metrology systems with robots to provide closed loop positional feedback to the robot controller. These systems have generally been limited to static processes and also introduce significant delays into the process while measurements are taken.
The paper proposes a solution to improve robot path accuracy by implementing real-time closed loop positional control of the robot end effector using a high speed, high accuracy metrology device. It has been shown that using this method it is possible to correct robot paths such that accuracies of better than 0.2mm are achievable at speeds of 50mm/s.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

Practical and Portable Automated Machining

2014-01-2275

View Details

JOURNAL ARTICLE

A New Robotic Vibration-Drilling Process

2014-01-2258

View Details

TECHNICAL PAPER

Standard Test Protocol for Large Volume Robot Applications

2010-01-1847

View Details

X