motion performance

Peter_ABB

Hello everyone,

    In ABB issued product specification manual we get the following data:

IRB 6600/6650        &nb sp;    175/2.55   225/2.55 
Pose accuracy, AP (mm)           0.09       0.12     
Pose repeatability, RP (mm)       0.18       0.14      
Pose stabilization time, PSt (s)   0.03       0.68     
Path accuracy, AT (mm)         2. 33       2.30      
Path repeatability, RT(mm)        1.05       0.56  

for example we use the data of Pose repeatability(175/2.55) is 0.18 mm. what does the 0.18mm mean:
 
 1.in a sphericity which radius less than 0.18mm
 2.the root mean square of (∆x,∆y,∆z) less than 0.18mm

 which is the right answer? or you have other explanation

 if we choose the option: Absolute Accuracy how it improved? (in that manual  97% is promised)  did anyone have a experience of that

 Thanks!
  

Peter_ABB2007-6-5 17:8:47

Peter_ABB

the bold letter of  the line:

IRB 6600/6650     &nb sp;    175/2.55   225/2.55 

is automaticly appended by system. i can't edit it. it means nothing

KeyHolder

There a two things;

1. Absolute accuracy

2. Repeatability

Absoluut accuacy means the difference between the position where the robot is standing (real life) and the position where the robot thinks he is standing (read from the pendant), absolute accuracy componsates the bending of the arm,.....

 

Repeatability is the distance between the times you are coming to the same point.

Both shall be sphericity.

 

 

 

 

Peter_ABB

Thanks KeyHolder,

1.Absolute Accuracy I know it will componsates the difference which between individual robot and ideal robot

2.Repeatability are your sure in sphericity?  where did you get this information?