ABB series robot precision parameter table
Robotic arm is an important equipment in industrial production, and it has important applications in the fields of welding palletizing and non-contact measurement. However, due to the kinematic parameter error caused by mechanical manufacturing tolerance assembly error and the reduction ratio error between the motor rotation angle and the joint rotation angle in the manufacture of the manipulator body, the manipulator has high repeatability positioning accuracy (within 0.05 mm) and absolute positioning accuracy. Low (1~2mm) case . Therefore, it is necessary to calibrate the manipulator to improve the absolute positioning accuracy of the manipulator.
The introduction is taken from the paper in the figure below
So what precision do we use in the positioning of the robot? Generally, we make a template, then calculate the position, teach the robot action, and when calculating other positions, the robot’s photographing pose is still the photographing pose of the template position, so what we use is the repeatability of the robot.
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