A Concept for Unifying the Performance Assessment of Industrial Robot Systems with Closed-loop Dynamic Trajectories

Abstract:
While traditional industrial robotics mainly rely on the repetition of fixed trajectories, future industrial robotics, e.g. for assembly tasks, will heavily rely on trajectories calculated at runtime. These calculations are carried out using sensor data such as measured process deviations and by using a feedback control loop. Such systems have highly diverse realizations. In order to allow standardized performance assessments in spite of this diversity, we propose an assessment approach similar to the assessment described in ISO 9283 which is sufficiently generic to cover a wide range of realizations. We first introduce generalized quantities with which any of such systems can be appropriately described. Next, based on these generalized quantities, we propose performance indicators and corresponding performance tests.