Hi all,
it seems to be hard to find specifications about KUKA LWR 4+ robotic arm. Particularly, I'm interested in knowing what is the accuracy in orientation or the resolution of the encoders.
Can you help me out?
Thanks!
Luca
Hi all,
it seems to be hard to find specifications about KUKA LWR 4+ robotic arm. Particularly, I'm interested in knowing what is the accuracy in orientation or the resolution of the encoders.
Can you help me out?
Thanks!
Luca
Not exactly what you are asking for but:
1. You have the repeatability value wich gives you the hability of the robot to go to the same position.
Apart of that, you have the precision values. Not specified by the manufacturer. Usually that won't be better than 0.3mm.
Of course both comments refer to all the axes. Not to individual ones.
All in all think that it is not only about the resolver. Mechanics have also their impact here.
Hope this helps...
LWR is, by my understanding, slightly less accurate than "normal" robots of similar size (we're still talking a small fraction of a mm, however). This is b/c the LWR is intended to be a force-sensing robot -- instead of trying to achieve highly accurate positions "blind," the LWR is expected to simply get close enough to successfully use its built-in force sensing.
As such, the LWR places a lower priority on sheer mechanical accuracy and more on high-speed realtime force/torque feedback. It is essentially intended to duplicate the human hand's method of "feeling" it's way into place. If you imagine how you can place a pin into a hole with your hand by feel, without being able to see it, the LWR is intended to "feel its way" in much the same fashion.
The LWR also has some other amazing properties -- with 7 axes in the arm, in the correct mode you can have a situation where the elbow strikes an obstacle and "bends" away, while the TCP maintains its programmed path. The vector of gravity is internally adjustable, and must be tuned for your location -- it's so sensitive, it can feel the difference in gravity between Sea Level and, say, Denver.