A non-contact method for detecting on-line industrial robot position errors using a microwave doppler radar motion detector

To be useful, industrial robots must meet positioning accuracy requirements for their given applications. Off-line calibration generally improves robot positioning accuracy to levels needed for open-loop use in most industrial applications. Applications that require greater accuracy with respect to...

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Bibliographic Details
Published in:International journal of advanced manufacturing technology 2006-09, Vol.29 (5-6), p.605-615
Main Authors: Smith, Gregory C., Smith, Roger A.
Format: Article
Language:English
Subjects:
Accuracy
Doppler radar
Error analysis
Error detection
Fault detection
Industrial applications
Industrial robots
Monitoring
Motion detectors
Position errors
Position measurement
Robot dynamics
Robots
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Description
Summary:To be useful, industrial robots must meet positioning accuracy requirements for their given applications. Off-line calibration generally improves robot positioning accuracy to levels needed for open-loop use in most industrial applications. Applications that require greater accuracy with respect to external assemblies generally turn to closed-loop control or passive compliance. However, industrial robot systems do not generally monitor in-process robot position to detect machine faults that can lead to product faults, scrap, machine damage, and additional costs. To achieve greater operational efficiencies, new non-invasive, noncontact methods for monitoring robot position are needed. The investigators developed a low-cost method for in-process industrial robot position monitoring using a Doppler motion detector and a statistical position error measure. The method detects position errors at robot repeatability levels.
ISSN:0268-3768
1433-3015
DOI:10.1007/BF02729115