工业双臂机器人的性能测试

Kyoungtaik Park, Chanhun Park, Y. Shin
{"title":"工业双臂机器人的性能测试","authors":"Kyoungtaik Park, Chanhun Park, Y. Shin","doi":"10.1109/INDIN.2008.4618137","DOIUrl":null,"url":null,"abstract":"To experiment the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Performance test of industrial dual arm robot\",\"authors\":\"Kyoungtaik Park, Chanhun Park, Y. Shin\",\"doi\":\"10.1109/INDIN.2008.4618137\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To experiment the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.\",\"PeriodicalId\":112553,\"journal\":{\"name\":\"2008 6th IEEE International Conference on Industrial Informatics\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-07-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 6th IEEE International Conference on Industrial Informatics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INDIN.2008.4618137\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 6th IEEE International Conference on Industrial Informatics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INDIN.2008.4618137","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

摘要

为验证所研制的双臂机器人的性能特性,研究了双臂机器人位姿和路径运动特性的评价方法,并给出了性能评价结果。研究和描述了载荷、可重复性、最大速度和位置精度等运动性能的评价方法和项目。由于ISO 9283中没有对双臂机器人的重复性进行专门的规定,所以对双臂机器人的重复性的评价是在单臂机器人重复性的规定基础上进行的。一般来说,虽然没有关于机器人运动位置精度的规范,但在本研究中,开发的双臂机器人使用ISO提供的距离精度进行测试。与此相关的是运动距离的测量和机器人坐标系的定义等问题。由于国际标准化组织对载荷没有专门规定,所以载荷的评估方法是通过测量静态载荷的偏转来进行的。由于ISO 9283中没有关于双臂机器人的专门规定,因此在不久的将来需要建立新的双臂机器人规定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Performance test of industrial dual arm robot
To experiment the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Safety supervision layer A feature selection method for Automated Visual Inspection systems Performances linkages between an airport and the Air Cargo Supply Chain — Evidences from Hong Kong and Singapore Kinematics control for a 6-DOF space manipulator based on ARM processor and FPGA Co-processor Remote robot control system based on DTMF of mobile phone
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1