Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Abstract

The article describes the measurement of unidirectional pose accuracy and repeatability of a collaborative robot. The objective of the measurements is to investigate and evaluate unidirectional accuracy of the six-axis collaborative robot UR5 of the company Universal Robots. The measurement methodology was based on outlining an imaginary ISO cube placed in the robot’s workspace, in which the robot’s tool centre point (TCP) attained five measurement points in thirty measurement cycles. A video camera and six linear incremental sensors with six evaluation units were used for the measurement. The measured values are presented and applied according to the ISO 9283 standard. On the basis of the measurement, we verified technical specifications of unidirectional pose accuracy and repeatability of the robotic arm UR5 specified by its producer.