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Industrial Robot Accuracy Degradation Monitoring and Quick Health Assessment



Helen Qiao, Brian A. Weiss


Robot accuracy degradation monitoring and assessment are critical activities in many industrial robot applications, especially when it comes to maintaining the high accuracy required operations, such as welding, material removal, robotic drilling, and robot riveting. Developing technologies to enable these activities are important to support decision-making by specifying the present robot state and optimizing the maintenance strategy. For this ultimate purpose, a quick health assessment methodology is developed at the U.S. National Institute of Standards and Technology (NIST), to quickly assess a robot's tool center position and orientation accuracy degradation. An innovative robot error model is presented to model both robot geometric and non-geometric errors, and to decouple the measurement instrument's uncertainty from the actual robot errors. A novel optimization method is proposed to solve the robot error model which has no concept of the traditional derivative or gradient for algorithm converging. Simulations and experimental results are presented to demonstrate the feasibility of the methodology.
ASME Journal of Manufacturing Science and Engineering


Condition Monitoring, Diagnostics, Prognostics Maintenance, Industrial Robot, Quick health assessment


Qiao, H. and Weiss, B. (2019), Industrial Robot Accuracy Degradation Monitoring and Quick Health Assessment, ASME Journal of Manufacturing Science and Engineering, [online], (Accessed June 17, 2024)


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Created May 14, 2019, Updated May 22, 2024