Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Autor: Martin Pollák, Marek Kočiško, Dušan Paulišin, Petr Baron
Jazyk: angličtina
Rok vydání: 2020
Předmět:
Zdroj: Advances in Mechanical Engineering, Vol 12 (2020)
Druh dokumentu: article
ISSN: 1687-8140
16878140
47139978
DOI: 10.1177/1687814020972893
Popis: The article describes the measurement of unidirectional pose accuracy and repeatability of a collaborative robot. The objective of the measurements is to investigate and evaluate unidirectional accuracy of the six-axis collaborative robot UR5 of the company Universal Robots. The measurement methodology was based on outlining an imaginary ISO cube placed in the robot’s workspace, in which the robot’s tool centre point (TCP) attained five measurement points in thirty measurement cycles. A video camera and six linear incremental sensors with six evaluation units were used for the measurement. The measured values are presented and applied according to the ISO 9283 standard. On the basis of the measurement, we verified technical specifications of unidirectional pose accuracy and repeatability of the robotic arm UR5 specified by its producer.
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