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Title:Application of the ISO 9283 standard to test repeatability of the Baxter robot
Author(s):Chen, Kevin S
Advisor(s):Bretl, Timothy W.
Department / Program:Electrical & Computer Engineering
Discipline:Electrical & Computer Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(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.
Issue Date:2015-07-14
Type:Thesis
URI:http://hdl.handle.net/2142/88019
Rights Information:Copyright 2015 Kevin S. Chen
Date Available in IDEALS:2015-09-29
Date Deposited:August 201


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