Application of the ISO 9283 standard to test repeatability of the Baxter robot

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Chen, Kevin S

Contributors dc:contributor

• Bretl, Timothy W.

• Robotics
• Baxter
• Repeatability
• ISO 9283
• Motion Capture

Statement dc:rights

• Copyright 2015 Kevin S. Chen

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/88019

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/88019