Evaluation of dynamics and positioning accuracy of robotic system operating in heavy loaded high speed conditions

Abstract

In this article the dynamics and positioning accuracy of “MOTOMAN SSF2000” robotic system which is operating in heavy loaded high speed conditions was researched. To explore the dynamics of “MOTOMAN SFF2000” was used mobile processing equipment of „Brüel & Kjær”. Mechanical vibrations were tested at two different locations of the robot. One of the accelerometers was placed on the robot's base and the other one was placed on the robot's hand. Accelerometers registered the vibrations in three different axes with three different weigths. The mechanical vibrations and positioning accuracy were explored moving robot‘s hand in a linear direction.