Preverjanje karakteristik robota Motoman MH5 po standardu ISO 9283

MEDVED, DENIS (author), Munih, Marko (mentor)

V magistrskem delu preverjamo značilnosti (v nadaljevanju karakteristike) robota Motoman MH5 po veljavnem mednarodnem standardu ISO 9283. Za izvedbo meritev smo izdelali merilni protokol meritev. Preučili smo mednarodni standard, na podlagi katerega smo izbrali merilno opremo, izdelali mehansko nazivno obremenitev robota in pripravili robotske programe. V uvodnem delu magistrskega dela sta podrobneje predstavljena mednarodni standard ISO 9283:1998 in tehnično poročilo ISO/TR 13309, ki z opisom merilnih metod dopolnjuje standard. Predstavljene so tudi definicije osnovnih pojmov: točnosti, ponovljivosti in ločljivosti robota. V drugem delu smo opisali uporabljeno metodologijo za preverjanje robotov. Predstavitev zajema opis robota Motoman MH5 in robotskega krmilnika, mehanske nazivne obremenitve robota, simulacijsko okolje MotoSim in predstavitev izbrane merilne opreme Optotrak Certus. Opisano je tudi merilno okolje, ki obsega postavitev merilnih kamer, namestitev merilnih (IR) diod oziroma markerjev na breme in postopek preračuna skupnega koordinatnega sistema. V tretjem delu so predstavljene vse značilne karakteristike lege in poti robota Motoman MH5. Za vsako posamezno karakteristiko robota so prikazani njen izračun, opis merilnega protokola in izmerjeni rezultati. V razpravi poglavja 3.3 povzamemo skupne lastnosti in ugotovitve rezultatov meritev.

• Language: Slovenian
• Keywords: karakteristike robota, industrijski manipulator, robotski standardi, merilne metode, merjenje
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2018
• PID: 20.500.12556/RUL-99911
• Publication date in RUL: 21.02.2018

Secondary language

• Language: English
• Title: Verification of Motoman MH5 robot characteristics by following the ISO 9283 standard

Abstract

The characteristics of the Motoman MH5 robot were investigated according to the applicable international standard ISO 9283. A validation protocol was prepared for the measurements. The international standard was studied to determine suitable measuring equipment, prepare a mechanical nominal load of the robot and write robotic programs. In the introductory part, the international standard ISO 9283: 1998 and the technical report ISO/TR 13309 are presented in more detail, which supplement the standard with the description of the measurement methods. Definitions of basic concepts are also presented: the accuracy, repeatability and resolution of the robot. Detailed in the second section is the methodology used for verifying robots. The second section is comprised of the description of the Motoman MH5 robot and the robot controller, the mechanical nominal load of the robot, the MotoSim simulation environment and the presentation of the selected Optotrak Certus measuring equipment. The measuring environment is also described, which includes the layout of measuring cameras, the installation of measurement (IR) diodes and markers and the process of converting a common coordinate system. In section three, the typical characteristics of the pose and trajectories of the Motoman MH5 robot are examined. Presented for each robot characteristic is its calculation, the description of the measurement protocol and the measured results. A summary of the discussion in chapter 3.3 is made including the common properties and findings of the results of the measurements.

• Keywords: robot characteristics, industrial manipulator, robot standards, measurement methods, measurements