The influence of reference position deviation on industrial robots positioning precision

Due to industrial robot's higher precision and better repeatability that human workforce, they have been chosen to replace human workload in all types of industrial activities. Due to the increasing positioning precision and repeatability needed by the industrial operations, it is necessary to use industrial robots that comply with the required technical specifications. For this reason, research on new methods to increase positioning accuracy is necessary. Some of the positioning errors are caused by the reference positioning deviations present in the industrial robot structure. Due to the systematic nature of reference position deviations, by entering the values in a compensation method, the positioning error is permanently minimized. In the paper are presented new methods of reference positioning deviations determination. In the paper is presented a mathematical model based on direct kinematic modeling method, used for calculating the position of the industrial robot end-effector. By applying these method's, we can determine the reference positioning deviations and by introducing them into a specialized calculation system we can simulate the impact of these deviations. By applying these methods on a six axis articulated industrial robot and introducing the industrial robot's parameters in a specialized calculating programs the positioning errors are determined and shown in the paper.