Kim, Y.
, Dagalakis, N.
, Marvel, J.
and Cheok, G.
(2022),
Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms, MEASUREMENT SCIENCE REVIEW, [online], https://doi.org/10.2478/msr-2022-0011
(Accessed April 23, 2024)
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Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms
Published
Author(s)
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Abstract
Most existing robot performance evaluation methods focus on single robotic arms performing independent motion tasks. In this paper, a motion gauge is proposed to evaluate the symmetrical coordinated-motion performance between two robotic arms. For this evaluation, the proposed device monitors the relative distance between the two robotic arms in real-time, which is used to evaluate the coordinated-motion errors with respect to accuracy, and repeatability between the two arms. The proposed metrology device is composed of two linear displacement sensors sliding on a linear rail, two ball-and-socket magnetic couplers for mounting to robotic arms, and a wireless communication module for data transmission. For validation, the proposed system monitored the two robotic arms programmed to simulate symmetrical coordinated motions.Citation
MEASUREMENT SCIENCE REVIEW
Volume
22
Issue
2
Pub Type
Journals
Download Paper
Keywords
Collaborative robots, Symmetrical coordinated-motion, Motion tracking, Metrology-bar, Robot performance evaluation
Citation
Created March 11, 2022, Updated April 20, 2022