Accurate Robot Motion-Time Model of Start/Stop Point-to-Point Operations

Abstract

An accurate robot motion-time (ARM-Time) model is explored to be used in predicting, with an unprecedented accuracy, the motion time of start/stop point-to-point operations. Unlike the existing motion-time models observing only the velocity feedback controller’s target profile, the ARM-Time model adequately characterizes the motion time function of position and velocity feedback robots. The ARM-Time model has been applied to predict motion times of the IBM 7547, IBM 7545 and PUMA 560 industrial robots. The comparison of predicted and measured motion times reveals a less than 1 percent prediction error for the IBM 7547 and IBM 7545 robots, and about 0.3 percent for the PUMA 560 robot.