Dynamic Drive Chain Error Analysis of Industrial Robots with Cyber Sensing Technology

The drive chain error of industrial robots is one of the main effects of the robots' accuracy and repeatability. This paper presents a cyber sensing technology based dynamic drive chain error estimation method. Cyber sensing nodes are deployed on an industrial robot to monitor the vibration of robot joints while the robot is working. The dynamic drive chain error is obtained from the vibration noise signal analysis. The proposed method is validated experimentally.