Browse Prior Art Database

Accuracy and Repeatability Robot Testing

IP.com Disclosure Number: IPCOM000045386D
Original Publication Date: 1983-Mar-01
Included in the Prior Art Database: 2005-Feb-06
Document File: 2 page(s) / 73K

Publishing Venue

IBM

Related People

App, RH: AUTHOR [+4]

Abstract

The special hardware and program written to test the system operating results versus the specification are provided. The fixture is used to measure the accuracy in the form of an offset, which is used to modify the instructions to locate the target. The cost of testing is considerably reduced, and the same program for commercially operating the system is used. Even if the fixture is skewed, it can still provide useful data.

This text was extracted from a PDF file.
At least one non-text object (such as an image or picture) has been suppressed.
This is the abbreviated version, containing approximately 91% of the total text.

Page 1 of 2

Accuracy and Repeatability Robot Testing

The special hardware and program written to test the system operating results versus the specification are provided. The fixture is used to measure the accuracy in the form of an offset, which is used to modify the instructions to locate the target. The cost of testing is considerably reduced, and the same program for commercially operating the system is used. Even if the fixture is skewed, it can still provide useful data.

There are two basic parts to this type of testing; one is the mechanical fixturing and gauges, and the second is the AML (A Machine Language) program designed to control the process. The process consists of placing the fixture and setting it to mechanical and electrical zero to establish a basepoint of reference. The program is then run to profile the fixture and build a data table. The important aspect of this program is that the fixture can be skewed and the robot will still be able to find the points in space. The test begins by driving the end effector of the robot to the first point where the data is recorded, and the robot is then commanded to go to the other points until all the data points on the fixture are collected using five runs. The results are checked against the machine specification to determine whether the machine is within the correct tolerances. The test fixture is shown in Fig. 1 as providing five points in space defined by the end of each stud projection. The programming algorithm...