Applicability of stereo high speed camera systems for robot dynamics analysis

摘要

Industrial robots are widely used in industrial area. Requirements for more accuracy and stable performance are raised in the applications. Especially when the robot executes machining task, the dynamic performance in the machining process has influence on the work piece quality. This article utilizes a high speed camera measuring system to analyze the robot motion for the sake of process improvement. Linear paths with different accelerations are programmed. The position distributions in 3D space are presented and the path linearity is discussed. In addition, the path velocity and acceleration are obtained. The differences of the running velocity to programmed velocity are given. Changes of the accelerations are also described. According to this application, Characteristics of the measuring system are introduced. Evaluation is made based on the experiment results.