According to the national standard GB/T12642-2013 "Performance Specifications and Test Measures for Industrial Robots", it is equivalent to the rules for the performance indicators of industrial robots in the international standard ISO9283: 1998.
There are 14 performance indicators of industrial robots in the standard:
- Pose accuracy and pose repeatability;
- Multi-directional pose accuracy change;
- distance accuracy and distance repeatability;
- the moment of stability of the position;
- azimuth overshoot;
- Drift of pose characteristics;
- interchangeability;
- track accuracy and track repeatability;
- corner deviation;
- orbital velocity characteristics;
- minimum positioning moment;
- Static and euphemistic:
- swing deviation;
However, for most of the current end users, they do not pay so much attention to the performance indicators, and through analysis, it is found that the performance indicators they pay the most attention to are still "pose accuracy, pose repeatability" and "track accuracy, track repeatability".
Therefore, this paper will take the two performance indicators of pose accuracy, pose repeatability, track accuracy and track repeatability as the primary research objects to analyze the primary factors affecting the error of robot performance.
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