In recent years, mobile robots have been widely used in many fields such as industrial production and life services. The demand for mobile robots in various industries continues to increase and refine.
Trajectory tracking in positioning and motion control is the basis for intelligentization of mobile robots. At the same time, higher positioning accuracy and trajectory accuracy can improve the performance of mobile robots.
This article will explain in detail several common precision concepts in the field of mobile robots.
Due to the instability of the surrounding environment and other factors, there is always a more or less deviation between the actual posture that the robot can achieve in the actual physical environment and the posture issued in the instruction. This deviation is what we often say. Continuously improve the technical means to minimize this deviation to obtain high accuracy. In order to effectively evaluate the robot's ability to control errors in practical applications, the three commonly used accuracy evaluation indicators will be described in detail below.
In order to achieve the docking of the robot and the conveyor belt of the client station, it is required that the actual position, robot posture and the posture set by the program each time the robot reaches the side of the machine must be extremely similar, and thus the point accuracy of the robot Higher requirements are made with repeat accuracy.
Point-to-point accuracy: how close the robot's actual pose after reaching the target point in the instruction is to the pose specified in the issued instruction.
Repeat accuracy: The degree of closeness between the actual pose after the robot reaches the target point in the instruction multiple times and the pose specified in the issued instruction.
When the robot is running in the workshop, it is often necessary to pass through some narrow passages, access control or two cars will meet the car, to ensure the robot's passability, which puts higher demands on the robot's trajectory accuracy.
Trajectory accuracy: how close the trajectory of the center of the robot is to the actual path trajectory when it runs along the path.
