Abstract

Compliance of a revolute robot manipulator is studied experimentally by holographic interferometry using a pulsed ruby laser. In the analysis, loads simulating forces that the robot is subjected to in actual cases were applied to the robot in different robot configurations. Thereby, the elastic compliance and deformation patterns of each joint and link were obtained. Experiments were performed on the ASEA IRb/6. The great influence of load-induced effects on accuracy were verified. The results provide a sound basis for corrective measures intended to minimize these effects. Holographic interferometry provides an extremely reliable way of revealing the 3-D behavior of a robot under load.

© 1988 Optical Society of America

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