Industrial robot resolution refers to the minimum moving distance or minimum rotation Angle that each axis of an industrial robot can achieve.
1. Robot accuracy: Robot accuracy mainly includes pose accuracy and trajectory accuracy. It is mainly affected by mechanical error (transmission error, joint clearance and flexibility of linkage mechanism), control algorithm error and resolution error.
(1) Pose accuracy
Represents the deviation between the command pose and the mean value of the real pose when the command pose is approached from the same direction.
Pose accuracy is divided into:
a) Position accuracy: the difference between the position of the command pose and the center of the real position cluster;
b) Attitude accuracy: the difference between the attitude of the command pose and the average value of the actual attitude.
(2) Trajectory accuracy
Represents the deviation between the average value of the robot joint instruction motion trajectory and the actual motion trajectory during the process from the same starting point to the same ending point.
2. Robot precision =0.5 reference resolution + mechanism error
3. Repeated positioning accuracy: it refers to the inconsistency degree of the actual position and attitude dispersion after the robot repeatedly responds to the same command pose from the same direction for N times. It is the statistical data of accuracy.
4. Positioning: positioning means that the robot has a relatively fixed position relative to the machine tool or the support.
5. Trajectory: generally refers to the trajectory of industrial robot movement, that is, the position, speed and acceleration of the point.
6. The working accuracy, repetition accuracy and resolution of the robot act together on the working accuracy of the robot.
