Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing

Research output: Contribution to conferenceProceeding

Abstract

This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning application is estimated to be 0.5mm. Local positional errors manifest pronounced dependence on the position of the robot end effector in the working envelope. The uncertainties of the measurements are discussed and deemed to be caused by the tool center point calibration, the reference coordinate system transformation and the low accuracy of the photogrammetry system.

Conference

Conference2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)
Abbreviated titleMFI 2016
CountryGermany
CityBaden-Baden
Period19/09/1621/09/16
Internet address

Fingerprint

Industrial robots
Nondestructive examination
Robots
Photogrammetry
End effectors
Robotics
Inspection
Calibration
Scanning
Lasers
Uncertainty

Keywords

  • metrology
  • non-destructive testing
  • NDT
  • robotics
  • off-line path programming
  • OLP

Cite this

Morozov, M., Riise, J., Summan, R., Pierce, S. G., Mineo, C., MacLeod, C. N., & Brown, R. H. (Accepted/In press). Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany.
Morozov, M. ; Riise, J. ; Summan, R. ; Pierce, S.G. ; Mineo, C. ; MacLeod, C.N. ; Brown, R.H. / Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany.6 p.
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abstract = "This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100{\%} of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning application is estimated to be 0.5mm. Local positional errors manifest pronounced dependence on the position of the robot end effector in the working envelope. The uncertainties of the measurements are discussed and deemed to be caused by the tool center point calibration, the reference coordinate system transformation and the low accuracy of the photogrammetry system.",
keywords = "metrology, non-destructive testing, NDT, robotics, off-line path programming, OLP",
author = "M. Morozov and J. Riise and R. Summan and S.G. Pierce and C. Mineo and C.N. MacLeod and R.H. Brown",
note = "{\circledC} 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), MFI 2016 ; Conference date: 19-09-2016 Through 21-09-2016",
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Morozov, M, Riise, J, Summan, R, Pierce, SG, Mineo, C, MacLeod, CN & Brown, RH 2016, 'Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing' 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, 19/09/16 - 21/09/16, .

Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing. / Morozov, M.; Riise, J.; Summan, R.; Pierce, S.G.; Mineo, C.; MacLeod, C.N.; Brown, R.H.

2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany.

Research output: Contribution to conferenceProceeding

TY - CONF

T1 - Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing

AU - Morozov, M.

AU - Riise, J.

AU - Summan, R.

AU - Pierce, S.G.

AU - Mineo, C.

AU - MacLeod, C.N.

AU - Brown, R.H.

N1 - © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

PY - 2016/7/18

Y1 - 2016/7/18

N2 - This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning application is estimated to be 0.5mm. Local positional errors manifest pronounced dependence on the position of the robot end effector in the working envelope. The uncertainties of the measurements are discussed and deemed to be caused by the tool center point calibration, the reference coordinate system transformation and the low accuracy of the photogrammetry system.

AB - This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning application is estimated to be 0.5mm. Local positional errors manifest pronounced dependence on the position of the robot end effector in the working envelope. The uncertainties of the measurements are discussed and deemed to be caused by the tool center point calibration, the reference coordinate system transformation and the low accuracy of the photogrammetry system.

KW - metrology

KW - non-destructive testing

KW - NDT

KW - robotics

KW - off-line path programming

KW - OLP

UR - http://dx.doi.org/10.15129/8b4f29a0-4985-4281-9677-8bf73991ab6f

M3 - Proceeding

ER -

Morozov M, Riise J, Summan R, Pierce SG, Mineo C, MacLeod CN et al. Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing. 2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany.