Position stabilization time measurement and analysis of industrial robots based on the point position measurement of a laser tracker
                                                  LIN Jia chun1,2, ZHU Min jie1,2, LI Rui1,2, LI Meng wei3
（1.School of Mechanical Engineering and Applied Electronics, Beijing University of Technology, Beijing 100124, China; 2.Beijing Engineering Research Center of Precision Measurement Technology and Instruments (Beijing University of Technology), Beijing 100124, China; 3.Research Center for the Development of Computer and Microelectronics（China Software Evaluation Center）, Ministry of Industry and Information Technology， Beijing 100044， China）

Abstract: In order to evaluate how quickly an industrial robot can stop at a given position in precision machining, assembling and measurement, the position stabilization time measurement method was investigated. A method using a laser tracker to measure a series of points, and thus to acquire the position stabilization time was proposed. The linear interpolation method was adopted to get an accurate result. The data points for calculating the position stabilization time of a TX200 industrial robot from St ubli was measured using a laser tracker under the 100%, 50% and 10% of the robot full speed. Then the results of position stabilization time were got using the proposed data processing method. The results show that the position stabilization time of the robot tested under 100% of its full speed is 0.555 7 s. When the speed of the robot is under 50% of its full speed, no stabilization time exits for the robot is working under damping state. This point is of vital importance in promoting the accuracy and efficiency of a robot in precision machining, assembling and measurement.

Key words: industrial robot; laser tracker; position stabilization time; linear interpolation