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Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement

Published

Author(s)

Guixiu Qiao

Abstract

Robots can perform various typed of automated movements in workspace. In recent years, robot applications have been expanded to a much wider scope, including robot machining, robot assembly, robot 3D printing, robot inspection, etc. Many of these applications require robots to have higher absolute accuracy compared with conventional robot part handling and welding. The capability to assess a robot's accuracy, and further, improve accuracy becomes important. In this paper, an advanced sensor and an accompanying methodology are developed that enable manufacturers to perform accuracy assessment to improve their robot systems. A smart target (patent pending) is developed at the National Institute of Standards and Technology (NIST). This sensor is integrated with a vision-based measurement instrument to acquire six-dimensional (6-D) information (x, y, and z position, roll, pitch, and yaw orientation) in the high accuracy of a moving robot arm. The smart target is motorized. It can constantly rotate toward the vision-based measurement instrument to maximize its line-of-sight. A use case is presented to demonstrate the accuracy degradation assessment by using the smart target on a Universal Robot.
Proceedings Title
2021 IEEE International Conference on Robotics and Automation (ICRA)
Conference Dates
May 30-June 5, 2021
Conference Location
Xian, CN

Keywords

Advanced sensing, robot accuracy assessment, robot calibration

Citation

Qiao, G. (2021), Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement, 2021 IEEE International Conference on Robotics and Automation (ICRA), Xian, CN, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=931417 (Accessed December 7, 2022)
Created June 5, 2021, Updated October 14, 2021