Universal Robots – several issues related to the resolution of industrial robots

Create Date: 2024-8-30 12:03:23|Source: Universal Robots/UR

1. Robot accuracy: Robot accuracy mainly includes posture accuracy and trajectory accuracy. It is mainly affected by mechanical errors (transmission error, joint clearance and flexibility of the linkage mechanism), control algorithm error and resolution error.

(1) Pose accuracy

Represents the deviation between the command pose and the mean value of the actual pose when approaching the command pose from the same direction.

Pose accuracy is divided into:

a) Position accuracy: the difference between the position of the command pose and the center of the actual position cluster;

b) Attitude accuracy: the difference between the attitude of the command pose and the average value of the actual attitude.

(2) Trajectory accuracy

Represents the deviation between the robot joint command motion trajectory and the average value of the actual motion trajectory in the process of reaching the same end point from the same starting point.

2. Robot accuracy = 0.5 benchmark resolution + mechanism error

3. Repeated positioning accuracy: refers to the inconsistency of the actual position and attitude dispersion after the robot repeatedly responds to the same command pose from the same direction for N times, which is the statistical data of accuracy.

4. Positioning: Positioning refers to making the robot have a relatively fixed position relative to the machine tool or support.

5. Trajectory: It generally refers to the movement trajectory of industrial robots, that is, the position, speed and acceleration of the point.

6. The three parameters of the robot's working accuracy, repeatability, and resolution work together on the robot's working accuracy.
Universal Robots – several issues related to the resolution of industrial robots

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