Review of Methods for Ensuring the Positioning Accuracy of an Industrial Robot During Technological Operations

Abstract

The work considers the causes of deviation of the working body of an industrial robot from a specified position and trajectory during welding, drilling, assembly, and machining. In the course of the analysis, positioning accuracy, repeatability, and trajectory reproduction accuracy were distinguished. Calibration of the kinematic model, deformation compensation, motion profile correction, and the use of technical vision and force feedback were analyzed. It was determined that the choice of method depends on the source of the error, the nature of the load, and the requirements of the operation. A verification sequence was proposed that begins with checking the basing and coordinate systems and ends with checking the result at independent positions and by the quality of the finished part.