The international standard ISO 9283 (Manipulating Industrial Robots - Performance Criteria and
        Related Test Methods) which has become the European standard EN 29283 has deficiencies
        hindering broad industrial use.

        However, a broad industrial acceptance and utilisation of this type of accuracy standard by robot
        manufacturers and users would enable true comparisons to be made between robots and thus, help to
        avoid bad economic decisions.
 
        Therefore, the goals of the project are:

        - Inquiry-based investigation of robot test procedures and test equipment applied at European robot
        users.
        - Determination and analysis of robot-user's requirements for robot performance criteria, testing
        procedures and related measurement equipment.
        - Classification of different robot test procedures in function of robot applications, enabling the robot
        user (particularly SMEs) to select the right robot for his application. - Improvement of performance
        criteria, and related measurement and evaluation methods/procedures for industrial robots.

 
         During the first 6 months project duration, questionnaires on robot testing were prepared and sent to
        approx. 4000 robot users, manufacturers and research institutions. More than 100 responses
        obtained so far, already indicate some clear tendencies and needs for improvement of robot testing.

        Finally, the project will provide the following achievements to European industry and SMEs:

        - Further development and validation of automated measurement systems for EN 29283 / ISO 9283
        and criteria with better reliability (including implementation of a software system for performance
        criteria and testing methods).
        - Dissemination of the standard and determination system to European users and manufacturers of
        industrial robots.
        - Contribution to the revision of ISO 9283 initiated by ISO TC184 / SC2 / WG2.

Example of study

    Multi-directional pose accuracy variation:

    Multi-directional pose accuracy variation expresses the deviation between the different mean attained poses
    achieved when visiting the same command pose n times from three orthogonal directions, see figure 1.
    -    vAP is the maximum distance between the barycentres of the cluster of points attained at the end of different
         paths.
    -    AP is the pose accuracy, expressing the deviation between a command pose and the mean of the attained poses
         when approaching the command pose from the same direction (AP is divided into positioning accuracy and
         orientation accuracy).
    -    RP is the pose repeatability, expressing the closeness of agreement between the attained poses after n repeat visits
         to the same command pose in the same direction.

        Examples of test paths :

Partners

 

	Fraunhofer-Institut für Produktionsanlagen und  Konstruktionstechnik  Division of Control Engineering  Dept. of Robot & Systems Control  Pascalstraße 8-9, D-10587 Berlin, Germany
	Krypton Electronic Engineering N.V.  Belgium
	Katholieke Universiteit Leuven  Belgium  Research & Development  Division of Production Enineering,  Machine Design and Automation
	Dassault Aviation S.A.  B.P 289  59472 Seclin  France
	Robotkonsult AB  Göteborg-Sweden
	Chalmers University of Technology AB (CTH)  Sweden  Department of Production Engineering  Chalmers Robotics Laboratroy (CRL)

 
 
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