{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/88019"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/88019","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Application of the ISO 9283 standard to test repeatability of the Baxter robot","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.","abstract_html":"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.","abstract_has_math":false,"creators":["Chen, Kevin S"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engineering","degree_department":null,"school":null,"contributors":["Bretl, Timothy W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-29T20:38:17Z","date_published":"2015-09-29T20:38:17Z","updated_at":"2026-07-22T22:26:31Z","subjects":["Robotics","Baxter","Repeatability","ISO 9283","Motion Capture"],"languages":["en"],"rights":["Copyright 2015 Kevin S. Chen"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/88019","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bretl, Timothy W."]},{"key":"dc:creator","label":"Author","values":["Chen, Kevin S"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-29T20:38:17Z","2015-08","2015-07-14","2015-8"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Baxter","Repeatability","ISO 9283","Motion Capture"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2015 Kevin S. 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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.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, Kevin Chen, accepted the attached license on 2015-07-10 at 09:14.","The student, Kevin Chen, submitted this Thesis for approval on 2015-07-10 at 09:30.","This Thesis was approved for publication on 2015-07-14 at 09:59.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8403 on 2015-09-29 at 13:22:31","Made available in DSpace on 2015-09-29T20:38:17Z (GMT). No. of bitstreams: 3 CHEN-THESIS-2015.pdf: 15647250 bytes, checksum: 3191b870c0f2bc3dc585a5574e69afc6 (MD5) application-iso-9283.zip: 15119894 bytes, checksum: 6b4746bd9c6eb3625b72db321e18e5c3 (MD5) LICENSE.txt: 4207 bytes, checksum: 43ca20842306c9e98e7a043042305aa9 (MD5) Previous issue date: 2015-07-14"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Application of the ISO 9283 standard to test repeatability of the Baxter robot"]}]}],"canonical_facts":{"dc:contributor":["Bretl, Timothy W."],"dc:creator":["Chen, Kevin S"],"dc:date":["2015-09-29T20:38:17Z","2015-08","2015-07-14","2015-8"],"dc:description":["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.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, Kevin Chen, accepted the attached license on 2015-07-10 at 09:14.","The student, Kevin Chen, submitted this Thesis for approval on 2015-07-10 at 09:30.","This Thesis was approved for publication on 2015-07-14 at 09:59.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8403 on 2015-09-29 at 13:22:31","Made available in DSpace on 2015-09-29T20:38:17Z (GMT). No. of bitstreams: 3 CHEN-THESIS-2015.pdf: 15647250 bytes, checksum: 3191b870c0f2bc3dc585a5574e69afc6 (MD5) application-iso-9283.zip: 15119894 bytes, checksum: 6b4746bd9c6eb3625b72db321e18e5c3 (MD5) LICENSE.txt: 4207 bytes, checksum: 43ca20842306c9e98e7a043042305aa9 (MD5) Previous issue date: 2015-07-14"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/88019"],"dc:language":["en"],"dc:rights":["Copyright 2015 Kevin S. 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