Many researchers think that robot calibration is an issue that has been successfully resolved decades ago, but they are wrong. While the underlying theory is well established, its practical application continues to be in its infancy. This is the first of a series of posts that will provide evidence that it is still very hard for a user to get an accurate industrial robot. So hard indeed that a company in New Zealand didn’t hesitate to ask one of my postdocs fly in for help.
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Position repeatability is one of the most important performance criteria of industrial robots. The ISO 9283:1998 norm defines it as the “closeness of agreement between the attained [positions] after n repeat visits to the same command pose in the same direction.” Position repeatability is the only positioning performance indicator that industrial robot manufacturers specify in their brochures and varies between 0.010 mm and 0.100 mm. Methods for measuring repeatability were presented in ISO/TR 13309:1995. However, metrology has changed since then, so what are today’s methods for measuring position repeatability?
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