Application of the ISO 9283 standard to test repeatability of the Baxter robot
Chen, Kevin S
Loading…
Permalink
https://hdl.handle.net/2142/88019
Description
Title
Application of the ISO 9283 standard to test repeatability of the Baxter robot
Author(s)
Chen, Kevin S
Issue Date
2015-07-14
Director of Research (if dissertation) or Advisor (if thesis)
Bretl, Timothy W.
Department of Study
Electrical & Computer Engineering
Discipline
Electrical & Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Baxter
Repeatability
ISO 9283
Motion Capture
Abstract
Industrial robots are becoming more cost-efficient and safer to work with. Rethink Robotics has created an industrial robot called Baxter that is less expensive and more compliant. Unfortunately, while Rethink has an accuracy specification for Baxter, there is some confusion about the repeatability specification of Baxter. This thesis applies the ISO 9283 standard to test the manipulation repeatability of Baxter using an IR motion capture system. This test method varies movement speed, payload weight, and target location while measuring repeatability. The average positional repeatability was determined to be 2.9 mm and 3.3 mm for the left and right arms respectively. The average orientation repeatability was determined to be 0.003 to 0.0047 radians for the left arm and 0.0037 to 0.0054 radians for the right arm.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
