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Robot accuracy is an important parameter of robot selection, all robot manufacturers will provide a robot repeat positioning accuracy, in fact, in addition to position accuracy, there is also trajectory accuracy.
1. Position accuracy
Position accuracy includes position absolute accuracy (accuracy) and posture repeatability, the following KUKA 180Kg robot as an example, position absolute accuracy ± 0.7mm, an order of magnitude higher than the repeat positioning accuracy.
Position accuracy represents the deviation between the programmed robot position and the actual occupied robot position and is measured at 9 positions with a coordinate measuring machine (CMM).
Repeatability is derived from the deviation from the actual position of the robot occupied when the measurement is repeated 30 times.
For robots with precise positioning, these values are for the robot base.
2. Trajectory accuracy
Trajectory accuracy is divided into linear trajectory accuracy and circular motion trajectory accuracy.
Trajectory accuracy of linear motion:
This data is for a reference speed of 1 m/s.
Trajectory accuracy of circular motion:
This data is for a reference speed of 0.5 m/s.
Trajectory accuracy
Trajectory accuracy represents the robot's ability to move on a programmed trajectory.
Trajectory repeat accuracy represents the deviation of 10 trajectories from the average of the trajectories.
3. Overshoot state
Overshoot amplitude affects the robot's ability to perform a controlled, precise pause at a specific location. The positioning time represents the speed at which the robot stops at a specific location.
Additional Notes:
The data given is based on ISO 9283 and measured using Krypton/Metris' camera-based system. Therefore the repeatability is defined as a value of 3 sigma.
All values are measured at the rated load.