Application of the ISO 9283 standard to test repeatability of the Baxter robot

Robotics;Baxter;Repeatability;ISO 9283;Motion Capture

Chen, Kevin S ; Bretl ; Timothy W.

关键词: Robotics;    Baxter;    Repeatability;    ISO 9283;    Motion Capture;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/88019/CHEN-THESIS-2015.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Industrial robots are becoming more cost-efficient and safer to work with.Rethink Robotics has created an industrial robot called Baxter that is less expensive and more compliant.Unfortunately, while Rethink has an accuracy specification for Baxter, there is some confusion about the repeatability specification of Baxter.This thesis applies the ISO 9283 standard to test the manipulation repeatability of Baxter using an IR motion capture system.This test method varies movement speed, payload weight, and target location while measuring repeatability.The average positional repeatability was determined to be 2.9 mm and 3.3 mm for the left and right arms respectively.The average orientation repeatability was determined to be 0.003 to 0.0047 radians for the left arm and 0.0037 to 0.0054 radians for the right arm.