Báo Cáo Development of a Robot Performance Evaluation System Using Leica LTD 500 Laser Tracker

ABSTRACT
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A Robot Performance Evaluation System(RPES) with the laser tracker Leica LTD 500 was
developed according to the ISO 9283 robot performance criteria. The developed system is set up a test
robot to continuously move the prescribed cyclic trajectories without a human intervention and the
laser tracker to simultaneously measure the robot’s movement. And then, the system automatically
extracts the required data from the tremendous measured data, and compute the various performance
criteria which represents the present state of the test robot’s performance. This paper explains how ISO
9283 robot performance criteria was used for the developed system, and suggests a automatic data
extraction algorithm from the mass of measured data. And also, a user-friendly Robot Performance
Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai
Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted
output shows the effectiveness of the developed system.

Key Words : Robot Performance Evaluation System(RPES), RPES Software, ISO 9283 Robot
Performance Criteria