Thermal drift and backlash issues for industrial robots positioning performance - Archive ouverte HAL
Article Dans Une Revue Robotica Année : 2022

Thermal drift and backlash issues for industrial robots positioning performance

Résumé

Abstract Robot positioning performance is studied in the scope of a robotized X-ray computed tomography application on a ABB IRB4600 robot. The robot has the “absolute accuracy” option, that is, the manufacturer has identified the manufacturing defects and included them in the robot control. Laser-tracker measurement on a 6.5-h long linear trajectory shows thermal drift and backlash issues, affecting the positioning unidirectional repeatability and bidirectional accuracy. A thermo-geometrical model with backlash compensation is developed. Geometrical calibration improves the forwards unidirectional mean accuracy from 1.39 to 0.06 mm between theoretical and optimized geometrical parameters with a stable thermal state. Thermo-geometrical calibration reduces the positioning scattering from a maximum of 0.15 to 0.05 mm (close to the repeatability of the robot). Backlash compensation improves the bidirectional mean accuracy from 1.53 to 0.07 mm.
Fichier non déposé

Dates et versions

hal-03969973 , version 1 (02-02-2023)

Identifiants

Citer

Adrien Le Reun, Kévin Subrin, Anthony Dubois, Sébastien Garnier. Thermal drift and backlash issues for industrial robots positioning performance. Robotica, 2022, 40 (9), pp.2933-2952. ⟨10.1017/S0263574721002022⟩. ⟨hal-03969973⟩
41 Consultations
0 Téléchargements

Altmetric

Partager

More