Environment for Industrial RobotPerformance Evaluation
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Industrial robots and robotic systems have already become key componentsin various industry sectors. After a new industrial robot modelis developed, robot manufactures have the responsibility to test it beforethe new model hits market. In this thesis, several technologies regardingindustrial robot test are analysed, and a test environment for industrialrobots is developed.ISO 9283 is the latest international standard for industrial robottests. Robot test processes and test principles are described in thisthesis. Questions and doubts about the standard are discussed. Lasertracker is one of the most advanced measuring instruments for industrialrobot tests. The accuracy of laser tracker is essentially important for testresults. Accuracy of laser trackers is analyzed in this thesis. Coordinatesystem calibration problem is discussed and solutions are shown. Twocalibration methods are applied in this thesis for connecting differentcoordinate systems. Results of different calibration methods are compared.In data analysis, an accuracy verification test of the laser trackeris carried out. A data selection strategy is introduced by analysing rawdata sequences.To verify functionalities of the test environment, an industrial robotis tested with the test environment. Pose accuracy and pose repeatabilitytest results from the test environment are shown and analysed.Result error sources are discussed. The example test shows that thetest environment is able to provide scientific results, which reflect robotperformance characteristics.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:kth:diva-164978OAI: oai:DiVA.org:kth-164978DiVA: diva2:806746