Method for estimating the position accuracy of linear motion of robot

GUO Jun, WANG Bing-rong
(School of Mechanical Engineering and Applied Electronics Technology,
Beijing University of Technology, Beijing 100124, China)

Abstract: Aiming at the national standard GB / T 12642-2013 “industrial robot performance specifications and test methods”, there is no provision for how to construct the orthogonal planes and the position where they should be placed when calculating the accuracy of the positional trajectoryand mapping of measurement points to actual points, etc., the linear trajectory position error of the industrial robot Stäubli TX200 under 10% load and 10% moving speed was measured and calculated by using the laser tracking system. Three calculation methods for linear trajectory position error were proposed to evaluate the positional accuracy of the linear motion trajectory of the robot, and a theoretical basis for the position error compensation of the late robot was provided. The results indicate that the three methods cancalculate andevaluate the linear position error accurately.
Key words: linear track position; laser tracking; position accuracy; error evaluation