제어로봇시스템학회:학술대회논문집
- 1993.10b
- /
- Pages.230-233
- /
- 1993
Relationship between motion speed and working accuracy of industrial articulated robot arms
- Goto, Satoru (Department of Electrical Engineering, Saga University) ;
- Nakamura, Masatoshi (Department of Electrical Engineering, Saga University) ;
- Kyura, Nobuhiro (Yaskawa Electric, Co., Ltd., Mechatro Laboratory)
- Published : 1993.10.01
Abstract
This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.
Keywords