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.