Optimizing the accuracy of an industrial robot: A model for improving positional accuracy

Abstract

This article investigates methods for improving the positional accuracy of industrial robots, focusing on their movement dynamics, trajectory management, and fundamental principles of precise positioning. The research examines nine critical points within the gripper's working zone, shaped as a parallelepiped, which is essential for defining the accuracy limits of industrial robots. The study addresses the challenge of aligning the capture device with the ninth point by proposing a solution that involves precise movements along the diagonals of the parallelepiped to enhance accuracy. The article provides a detailed analysis of the construction and mechanics of industrial robots, emphasizing how different link configurations impact performance. It highlights the benefits of fewer links, which tend to maintain stable positional accuracy, while also discussing how an increase in the number of links leads to trajectory variations. These variations affect both robots with mobile bases and fixed- base robots, impacting practical applications such as machining where managing these trajectories is crucial to avoid collisions and ensure smooth operation. Additionally, the research explores the role of various coordinate systems in shaping the working zone and basic movements of industrial robots. It covers rectangular, cylindrical, spherical, and angular coordinate systems, each offering different perspectives on the robot's operational area. This comprehensive analysis aims to address the complexities associated with enhancing positional accuracy in industrial robotics.