Effect of Industrial Robot Load on its Pose Repeatability and Working Cycle Time

The experiments presented in this paper aim to assess the effect of proper loading of the end of the robot's arm on its pose repeatability and working cycle time. The measurement is carried out on a FANUC LR Mate 200iC industrial robot using a digital indicator. The experiment was carried out at five different robot loads. For each single load, a measurement in three axes was performed. The experiment also includes an assessment of the influence of the detailed definition of the end of the robot's arm load in its control system on the measurement results. The paper provides insight into the possibility of investigating the performance criteria of industrial robots and highlights the essence of the correct setting of the robot load including the moments of inertia and the position of the center of gravity.