Influence of Drift on Robot Repeatability and Its Compensation
This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this ar...
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MDPI AG
2021
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oai:doaj.org-article:5f72b35d67bb427cbb18dccbc58336612021-11-25T16:38:34ZInfluence of Drift on Robot Repeatability and Its Compensation10.3390/app1122108132076-3417https://doaj.org/article/5f72b35d67bb427cbb18dccbc58336612021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10813https://doaj.org/toc/2076-3417This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures.Michal VocetkaZdenko BobovskýJan BabjakJiří SuderStefan GrushkoJakub MlotekVáclav KrysMartin HagaraMDPI AGarticlerobot repeatabilityrobot precisionrobot driftrobot warm-upTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10813, p 10813 (2021) |
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DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
robot repeatability robot precision robot drift robot warm-up Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 |
| spellingShingle |
robot repeatability robot precision robot drift robot warm-up Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Michal Vocetka Zdenko Bobovský Jan Babjak Jiří Suder Stefan Grushko Jakub Mlotek Václav Krys Martin Hagara Influence of Drift on Robot Repeatability and Its Compensation |
| description |
This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures. |
| format |
article |
| author |
Michal Vocetka Zdenko Bobovský Jan Babjak Jiří Suder Stefan Grushko Jakub Mlotek Václav Krys Martin Hagara |
| author_facet |
Michal Vocetka Zdenko Bobovský Jan Babjak Jiří Suder Stefan Grushko Jakub Mlotek Václav Krys Martin Hagara |
| author_sort |
Michal Vocetka |
| title |
Influence of Drift on Robot Repeatability and Its Compensation |
| title_short |
Influence of Drift on Robot Repeatability and Its Compensation |
| title_full |
Influence of Drift on Robot Repeatability and Its Compensation |
| title_fullStr |
Influence of Drift on Robot Repeatability and Its Compensation |
| title_full_unstemmed |
Influence of Drift on Robot Repeatability and Its Compensation |
| title_sort |
influence of drift on robot repeatability and its compensation |
| publisher |
MDPI AG |
| publishDate |
2021 |
| url |
https://doaj.org/article/5f72b35d67bb427cbb18dccbc5833661 |
| work_keys_str_mv |
AT michalvocetka influenceofdriftonrobotrepeatabilityanditscompensation AT zdenkobobovsky influenceofdriftonrobotrepeatabilityanditscompensation AT janbabjak influenceofdriftonrobotrepeatabilityanditscompensation AT jirisuder influenceofdriftonrobotrepeatabilityanditscompensation AT stefangrushko influenceofdriftonrobotrepeatabilityanditscompensation AT jakubmlotek influenceofdriftonrobotrepeatabilityanditscompensation AT vaclavkrys influenceofdriftonrobotrepeatabilityanditscompensation AT martinhagara influenceofdriftonrobotrepeatabilityanditscompensation |
| _version_ |
1718413079654432768 |