RESEARCH PAPER
Testing of an industrial robot’s accuracy and repeatability in off and online environment
| 1 | Institute of Engineering Processes Automation and Integrated Manufacturing Systems Faculty of Mechanical Engineering Silesian University of Technology ul. Konarskiego 18A, 44-100 Gliwice, Poland |
| 2 | ProPoint SP. Z O.O. SP. K. [Ltd.] ul. Bojkowska 37R, 44-100 Gliwice, Poland |
Publication date: 2018-09-30
Eksploatacja i Niezawodność – Maintenance and Reliability 2018;20(3):455–464
KEYWORDS
industrial robotoffline programmingonline programmingpositioning accuracyrepeatability ofpositioning
ABSTRACT
The paper discusses issues concerning the accuracy and repeatability tests of the positioning of the Kuka KR 16-2 industrial robot.
The results of laboratory tests of an industrial robot, as well as a comparison of robot motion paths in the Robcad environment
with the real robot motion paths are presented. In order to register movement paths in the laboratory conditions, the laser tracker
Faro Vantage was used. Frequent necessity to correct programs of industrial robots created in the offline environment, is a results,
among others, from the insufficient experience of people who carry out programming, the environment in which robots work and
the parameters of the robots themselves, and therefore their accuracy and repeatability. It is connected with the extension of the
start-up time and high costs. The work describes the measurement method and attempts to determine the influence of the type of
route and motion parameters on the accuracy and repeatability of robot. The accuracy of mapping of simulated robot motion in a
virtual environment was also verified.
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