Influence of Drift on Robot Repeatability and Its Compensation

This paper presents an approach to compensate for the effect of thermal expansion on structure industrial robot and thus reduce repeatability difference in cold warm conditions. In contrast previous research this area that deals with absolute accuracy, article is focused determining achievable repeatability. To unify increase repeatability, measurements highly accurate sensors were performed under different conditions ABB IRB1200, which was equipped sensors, mounted a pre-defined position around joints. The allowed implement temperature-based prediction model end effector positioning error. Subsequent tests have shown implemented used error compensation proved be effective. Using methodology presented article, impact drift can reduced by up 89.9%. A upgraded principle described does not warmed as it works same low entire range temperatures.