Graphic Simulation of Robot Process Capability

Abstract

Develops a graphic simulation system in conjunction with a kinematic error model to assist management in making investment decisions. Uses Taguchi‐type experimental design to predict the robot process capability. Two sets of charts are created by the system to represent the repeatability and accuracy of the robot performing a given operation. These charts are, first, histograms in the x, y , and z directions and, second, scattered ellipses in the xy, yz , and xz planes. Central to the system are three characteristics: a description of the geometric error and of the kinematic error; a common function to request and display a robot moving from one position to the next; and a family of charts showing the capability of the robot implementing a given task. The results provided by the system can help management to analyse robot projects concerning robot selection and implement action in a more systematic manner.