Accurate Robot Motion-Time Model of Start/Stop Point-to-Point Operations

[+] Author and Article Information
Ching-Cheng Wang

Institute of Manufacturing Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.

J. Manuf. Sci. Eng 118(4), 531-538 (Nov 01, 1996) (8 pages) doi:10.1115/1.2831064 History: Received November 01, 1993; Revised May 01, 1995; Online January 17, 2008


An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.

Copyright © 1996 by The American Society of Mechanical Engineers
Topics: Motion , Robots , Feedback , Errors
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