I wonder if industrial robots, currently in the market, are fully closed loop. They are closed loop as far as the controller, motors and their connections with each other are concerned but what about the mechanical unit? Fanuc robot controller works fine even if its motors are detached from the mechanical unit. I have tried this: all motors removed from the mechanical unit but connected to the controller. It did not flag any alarm. I know what i did was extreme. But my point was that if there occurs some problem in the mechanical unit because of which robot deviates from its taught position, would it be possible to trace? Is there any method from which after some production cycles robot itself can measure offset or at least tell that it is deviating from the exact taught position? Can it be done through sensors or any vision camera?
Robot Path Tracking
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aishpd -
December 18, 2013 at 5:58 AM -
Thread is marked as Resolved.
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I don't know what the option is called, but fanuc has a super precise external encoder that mounts to the mechanical arm and provides fine detailed position information to the controller to precisely position the arm. This overcomes the mechanical error introduced by wear and pressure on the reducers.
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It's the secondary encoder option, and it's not cheap. It's also not available on every model.