Measuring the pose repeatability accuracy of the industrial robot end-effector based on the ISSA-IGCF-IHT method

摘要

Abstract Industrial robots play an essential role in intelligent manufacturing. The pose repeatability accuracy of the end effector is an important indicator of the robot’s precision operations ability. So, it is essential to measure the pose repeatability accuracy of the end effector. However, most of the existing measurement methods have problems such as cumbersome measurement processes and difficulty realizing multi-point measurements of large spaces. Considering the shortcomings of the existing methods, a theoretical model of the robot end effector’s pose repeatability accuracy measurement is proposed in this paper. Based on the theoretical model, a new method based on an improved sparrow search algorithm-improved Gaussian curve fitting-improved Hough transform algorithm is proposed to measure the Industrial robot end effector’s pose repeatability accuracy. The experimental results show that the position measurement error after compensation is ±1.5 μm, and the angle measurement error after compensation is ±2 arc sec. We can conclude that the Industrial robot end effector’s pose repeatability accuracy measurement is achieved using the proposed method. The authors’ main contribution is that the proposed method’s measurement process is simple and can achieve multi-point measurement in large spaces. It provides a reference for measuring and evaluating the Industrial robot end effector’s pose repeatability accuracy.