Resolution Accuracy, Repeatability, Compliance （分辨率的准确性、重复性、合规）.pdfVIP

ResolutionAccuracy, Repeatability, Compliance /campus/law/365/definitions.htm Resolution The resolution of a robot is a feature determined by the design of the control unit and is mainly dependent on the position feedback sensor. It is important to distinguish the programming resolution from the control resolution. The programming resolution is the smallest allowable position increment in robot programs and is referred to as the basic resolution unit (BRU). For IRB2000 ABB robot it is approximately 0,125 mm on linear axis. The control resolution is the smallest change in position that the feedback device can sense. For example, assume that an optical encoder which emits 1000 pulses per revolution of the shaft is directly attached to a rotary axis. This encoder will emit one pulse for each of 0,36° of angular displacement of the shaft. The unit 0,36° is the control resolution of this axis of motion. Angular increments smaller than 0,36° cannot be detected. Best performance is obtained when programming resolution is equal to control resolution. In this case both resolutions can be replaced with one term: the system resolution. Accuracy Accuracy refers to a robots ability to position its wrist end at a desired target point within the work volume, and it is defined in terms of spatial resolution. At first accuracy depends on robot technology and how closely the control increments can be defined for each of the j oint motions, excluding for the moment the mechanical inaccuracy which include the robot manufacture quality. Initially we define accuracy as one-half of the control resolution (Fig. 1.1), considering the worst case where the target point is directly between two control points. A more realistic considerations include mechanical inaccuracies with a statistical distribution (Fig. 1.2), in that case accuracy is defined as one-half of the spatial resolution. Figure 1.1: Diagram of accuracy in two dimensio