ロボット制御精度の定量的評価法の検討(第2報)

軌跡制御におけるロボット工具先端精度の定量的推定

抄録

In the robot control, many factors such as the control accuracy of servo motors, stiffness of the arm mechanism and the performance of the control algorithm have influence to the total accuracy of robot motion. So it is necessary to evaluate quantitatively the total control accuracy under such influences. Especially, in the Continuous Path control the error of the tool point path becomes larger in proportion to the motion speed. In the previous first paper, Multivariate Root Mean Square criterion is proposed and applied to estimate quantitatively the control accuracy of the robot and examination of quantized velocity and sampling period is executed. In this report the method is applied to evaluate the control accuracy of tool point path in CP motion and an estimation formula to calculate the tool point error from the deviation of joint deviation is introduced. Experimental results of SCARA type robot in circular interpolation are shown.