Test Fixture for Measuring Robot Repeatability/Accuracy
Original Publication Date: 1988-Nov-01
Included in the Prior Art Database: 2007-Apr-27
This article describes a test fixture and method utilizing the fixture readings which enable the simultaneous measurement of the position and orientation of a robot tool coordinate frame. Positioning accuracy and repeatability are often used to evaluate robot performance. Accuracy is a measure of positioning error between the actual robot position and the commanded position. Repeatability is a measure of the distribution of position error about a commanded point. Factors such as speed, payload, approach direction, and workspace location all affect the accuracy and repeatability. It is the intent of this disclosure to introduce a precise method of measuring robot position and orientation errors. The need for accurate robot performance data is important in the area of automated precision manufacturing.