Zvyšování přesnosti manipulátorů

Abstract

The presented thesis deals with the possibilities of increasing the precision of six-axis angular manipulators with respect to the properties of its mechanical structure. The paper describes the procedures and the achieved results of the two proposed research areas. The introduction of this thesis describes the causes of errors of industrial robots. A standard that defines the measurement of a key operating parameters, engineering and scientific procedures for error detection and possible compensation as well as suitable systems for measuring the precision of robots is also described. Furthermore, the aims of the work are set, these are based on a specific research task that have been and are being solved at the Department of Robotics. The work itself is divided into chapters according to the topics addressed The first research area is the research of the influence of the approach direction on the achievable repeatability. In the framework of this research, the influence of the approach direction on the measured target, on the achievable repeatability was investigated using multi-axis accelerometers and a high-speed DIC camera system. Several experiments were performed to confirm this influence and at the same time to exclude the influence of the obtained results by other influences such as specific position, weight of the carried object of manipulation, approach speed or influence of a specific robot. Experiments performed for this research were performed on two ABB IRB1200 5/09 robots. As part of the subsequent research in the field of increase of the accuracy of manipulators, the degree of influence of the change in the temperature of the robot arm on the achievable repeatability was experimentally determined. For the needs of this research, a pair of ABB IRB1200 5/09 robots and a UR10e robot were equipped with temperature sensing equipment for on-line measurement and a single-purpose measuring nest with confocal and two laser profilers for multi-axis measurements was also prepared. The aim is to propose a procedure for drift compensation, based on the current temperature of the robot arm. At the conclusion of this paper, you can find an evaluation of the results.