Sensor-guided motions for robot-based component testing

This paper presents the use of sensor-guided motions for robot-based component testing to compensate the robot’s path deviations under load. We implemented two different sensor-guided motions consisting of a 3D camera system to minimize the absolute deviation and a force/torque sensor mounted directly to the robot’s end effector to minimize occurring transverse forces and torques. We evaluated these two sensor-guided motions in our testing facility with a classical tensile test and a heavy-duty industrial robot. From the obtained results, it can be stated, that transverse forces as well as the absolute deviation were significantly reduced.