TriCal | Measuring position repeatability of an industrial robot arm (This is not CGI)
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- čas přidán 25. 11. 2019
- Repeatability is one of the most important characteristics of industrial robots, it determines the ability of the robot to achieve the same targets over and over. According to the ISO 9283, repeatability of the industrial robot must be measured at five specific points in the largest cube inscribed in the robot’s workspace. In practice, however, performing an ISO test is not always easy and fast as it requires non-restricted access to the workspace, as well as advanced measuring equipment, such as a laser tracker. As an alternative, we have developed the TriCal - an affordable and precise 3D measuring instrument that makes it easy to evaluate the position repeatability of the robot in the target workspace. In this video, we demonstrate the repeatability performance evaluation of the KUKA KR6 R700 sixx industrial robot arm.
The TriCal has been developed and manufactured at École de technologie supérieure under the supervision of Professor Ilian Bonev.
Instagram: / olekstepanenko
#kuka #robot #repeatability
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Created by Oleksandr Stepanenko
CZcams: / oleksandrstepanenko
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The things i will watch in order to not do actual work
bruh, why you attack me like that
Lel video will go viral, pretty sure. Utube algo random puts it into everyone's suggestions
same bro
I'm in this comment and I don't like it.
Go back to work
This music has an ominous "they are coming and there is nothing you can do about it" vibe.
no work no life
Agreed, some half life vibes also come up
They are coming and it is good
👍
1990: "This is real CGI, it's not animatronics"
2021: "This is NOT cgi, it's an actual robot"
When I worked in the CAD CAM industry our plotter had a repeatability error of no more than 3 microns over a movement of about 1/2 a meter. Using lead screws as well.
Interesting video.
Probably using secondary feedback from a glass scale?
wut
I can assure you these machines dont utilize leadscrews.
Waaaaaaay more degrees of freedom on this machine
You are comparing a cartesian robot with an articulated robot. Different levels of complexity considering just DoF alone. Apples and oranges.
Nice! Next step: repeatability under variable load... Just cause nobody use that kind of robot to move air around 😂
Or repeatability under load after 1 million moves.
I think you and the rest of the replied commenters misunderstand what they demo's here. They are demoing the triCal system, not the robot? That's the 3 micrometres in a jig thing with the changing numbers.
@@zeitgeist909 Your an engineer? Just guessing based off your statements. Your playing a glass half full/half empty game. You weather your demo'ing a "fixture" that checks calibration of true positioning, or demo'ing a robot that can place an object in true oreintation with repittion, it does not matter. You still need both and are reliant on eachother. You dont design a fixture for the purpose or not checking the reliability robot.
I myself come from the feild of fixing things like this robot, or the ones that have to use gauges in real life applications on real world robotics.
@@Hallettjs7957 It's more of a CZcams snippet than a demo. I would assume that they probably published a lengthy paper on this since it was designed and made at a university affiliated engineering lab.
He's not playing any game. He correctly identified a comment which is off topic and flagged it as such.
They are not both reliant on each other, they are independent of one another. This is to test any industrial robot.
Also as an engineer, repeatability under load after 1 million loads will only be due to the wear on components, not an additive error. These robots have direct feedback, so any wear in mechanical parts does not affect the output more than one step of each of the output motors, or more than the lead/lag of the output and how it is programmed.
The minute friction on the plates will heat them up making them show another value after small time due to the 0.001 resolution.
For this reason, we do a warm-up before taking measurements 😉 The robot, by the way, must also be warmed up.
@@OleksandrStepanenko Expected so, I seem to see a repeatability of around 0.006 -0.007 mm or so, not bad. Absolutely within 0.01 mm that is within the range of normal for these.
@@OleksandrStepanenko wait this is CGI right? The colors and reflections look too perfect to be real... (Edit: well im dumb i missed the full title lol)
@@ablasttv aka let's show the internet I can't read a full title
If you’re still watching comments, I recommend taking the measurements and using video editing to make them all clearly visible, large, and upright.
I think that would have been useful if they were demoing this robot's specs, but they are demoing the usefulness of the tool
fact that you need to clarify "this is not cgi". we live in a future
"This is some precise shit. It's so precise that bacteria living on it were like, "THIS IS SOME PRECISE SHIT." CS Ghost Animation
KUKA IS AMAZING
Agree
Germans have let this amazing thing go in Chinese hands
There seems to be a bit of a drift but that is still incredible precision. I imagine you could use a similar setup for a calibration feedback loop for prolonged operation even under load.
Oh, there are plates on the micrometers. I was gonna say you'll have a tough time compensating for any offset.
Video is impressive. How does TriCal evaluation of Repeatability compare with ISO 9283 standard?
Whut whuuut?
asking the real questions
Yes, because measuring repeatability is not just reaching to a point from same direction all the time. Moreover, it needs to be loaded with its payload as well.
@Armin Tamzarian It looks good in video. But practically any robot cannot be delivered as a product if its repeatability is identified and certified using this approach.
Somewhere out there is a 5 year old asian kid who's doing the same with his fingers.
with the power of anime
lmfao
@@nou4898 and God on his side
Good cgi :D Joking, well done.
Не может быть...... Вот это точность kuka могет
KUKA может!
Потрясающий канал и работа.
Сначала думал что это все 3д визуализация.
Таки может :)
Спасибо, очень приятно.
Тоже сначала подумал, что это рендеры, очень круто!
Максим Чех, Спасибо! :)
Как сказать, Кука не прям эталон, есть машины и более точные, но Кука обыгрывает своей подвижностью и интерфейсом.
Please measure the absolute accuracy! Repeatability is easy.. reposition the tcp and go back to same position.
is it 0.001mm or 0.001 inch?
mm, This is Hardcore
@@clodman84 ? it is a magnitude of 25.4
First one, then the other. :)
That's cool, so that arm has a repeatable accuracy range of 0.003mm or 3 microns (3 measurements were .008, .006, .009) on that top micrometer sensor. I wonder how complex the algorithm is to keep that 3 micron range, I bet there's a lot of variables they had to account for. Must have been difficult.
Do you also build complete functionable robots for commercial purpose or is this just in phase of developement?
Try marlin software if you are working with same stepper motors like the way 3d printer or robotic arms works.
Are a cinematographer at the same time ?
You have KUKA!!!
I really wanna know what do you do professionally , ok I am sorry I didn't even notice I am commenting on every video at the same time but I just found out know about all this stuff but please answer a last question what do you do professional ?
Different things, mostly industrial robotics and mechanical design. If you have LinkedIn, we can connect: www.linkedin.com/in/olekstepanenko/
Videography for me is just the way to present my project nicely, but I'm not really in this field.
If its so good and the ball is perfectly round, why not move the arm while gauges read 0? That would be a true test!
czcams.com/video/igo5p5ktp0k/video.html
Assume robot tool ball moved in only direction of Y axis dial gauge and abusively we can see deviation in Y direction dial gauge ,but due to spherical geometry of robot tool ball ,we will get deviation in direction of x and z dial gauges also .How you are consider/compensate it ?
Indicators have flat tips. As long as the sphere touches a flat surface at all three tips, we can measure its position in Cartesian space.
Salutations from the algorithm!
ALL HAIL THE ALGORITHM.
автор издевается) круто очень!
Спасибо 😀
Ммм, люблю технопорно)
Up to 0.1 of a mm is good. If there is a bit of force in the works these robot arms get the 'shakes.. very quickly you have 0.2mm repeatability.. For many applications still a well designed simple cartesian machine is better.
Wow .2mm isn't very good. Even my diy cnc is precise to .1mm (although accuracy might not be).
@@TheRainHarvester The overhand is huge on arms. Imagine it has a payload of 20 Kgs... or 60+Kgs.. Even the big arms get the shakes; The trajectory planner on the high end tries to ease that but there are limitations.
@@chicoxiba It's amazing it can compensate for sure!
@@TheRainHarvester lol.. *overhang
@@TheRainHarvester Does your DIY cnc have six axis?
If Fanuc and ABB is as accurate I can no longer blame them for not doing as I'm telling them....
They are all repeatable, but not accurate ...
czcams.com/video/XSKfr5smV9Q/video.html
In Hungarian Kuka means dustbin.
okay now move it while it's in the ceansor
I don't know if I should believe the title
This is not CGI !
This is cycles render 🤣
Que es esto?
Not CGI? Where's the banana? :))
first look: CGI, of course!
second look: WHY THIS STILL LOOKING CGI? Reverse uncanny valley?
the frick you do when it's off
ah! your weakness is rough textures when its all smooth textures it looks so realistically fake but with with rough textures it just would look like any tech demo (i might be dumb cos i see the world differently and understand things less than most people do)
I know nothing about industrial robots, this wasn´t impressive at all, can someone explain?
WOO-PEE-DEE-DOO!
we do this every day in the shop, except with more precission.
@@combatcorgiofficial Riiiiiiiight!
IF you only knew.
I can tell you one thing, though. If that is a standard axis resolution kuka robot, I'm guessing here, then one rotation of the resolver on any of its axis has a cool 1 million counts. Our machines have 4 million per revolution. The next generation equipment coming in here will have 12 million count per rev. So...
Yea, KUKA ain't shit...
I've watched them make over a milion car bodies back when I worked in a car mill and they do a fine work spot welding. They don't compare to any decent CNC machine, although the germans will make that claim "it's perfect and has great repeatability".
@@combatcorgiofficial honestly, I don't believe you. On the other hand, opinions are like assholes, everybody has one, so...
@@combatcorgiofficial how many languages do you speak?
if it was cgi it would be more accurate, you guys can do better
Certainly! Working on it.
@@OleksandrStepanenko i want to see that be able to hit under .00001 in .25 the time, then you will have it.
@@pcmasterwraith7676 In what units?
@@OleksandrStepanenko every unit
.
Is this supposed to be impressive or something? It's not. It's just a few gauges and a standard old robot arm
KUKA is dead, Chinese brought them all.
Hey, geniuses, the video is too dark!
The lighting sucks a big one.