Industrial robot resolution refers to the minimum distance of movement or the minimum rotation angle that each axis of an industrial robot can achieve.
1. Robot Accuracy: Robot accuracy mainly includes pose accuracy and trajectory accuracy. It is primarily affected by mechanical errors (transmission errors, joint clearances, and the flexibility of linkage mechanisms), control algorithm errors, and resolution errors.
(1) Pose accuracy
This represents the deviation between the commanded pose and the average actual pose when approaching the commanded pose from the same direction.
Pose accuracy is divided into:
a) Position accuracy: The difference between the commanded pose and the actual position at the cluster center;
b) Attitude accuracy: The difference between the commanded pose and the average actual pose.
(2) Trajectory accuracy
It represents the deviation between the robot's joint command motion trajectory and the average value of the actual motion trajectory during the process of moving from the same starting point to the same ending point.
2. Robot accuracy = 0.5 times the reference resolution + mechanism error
3. Repeatability accuracy: refers to the degree of inconsistency between the actual position and orientation distribution after the robot responds to the same command pose N times from the same direction. It is a statistical data of accuracy.
4. Positioning: Positioning refers to giving the robot a relatively fixed position relative to the machine tool or support.
5. Trajectory: Generally refers to the motion trajectory of an industrial robot, that is, the position, speed and acceleration of a point.
6. The robot's working accuracy, repeatability, and resolution are three parameters that work together to determine the robot's working precision.
