STATIC AND DYNAMIC PERFORMANCE MEASUREMENTS OF INDUSTRIAL ROBOTS.

Abstract

A static and dynamic performance test bench is presented in this paper. Static performances consist of resolution, of repeatability and of accuracy. Dynamic performances consist of comparison between three-dimensional real measured trajectories and prescribed straight line motions, together with their acceleration, joints velocities and torque or force developed by each actuator. Trajectory measurements is contactless. Torques or forces are measured by joint actuator. Influence of control system, drive mechanism, joint efficiency and link flexibility on the path accuracy of an industrial robot can be checked.