Test - Relationship between Accuracy and Speed
Hi,
This blog will cover the results gained from testing the accuracy of the robot successfully hitting the puck at varying speeds. Below is a graph of the results.
The robot couldn't hit a moving puck with a velocity of over 250 cm/second as it didn't have enough time to react. Increasing the speed of the robot will not solve this problem as there will always be an initial delay before executing every motion commands due to the download approach that the ROS-Industrial driver provides for the ABB IRB 120.
Although, the system prefers slower puck to allow enough time for the robot to react, a puck moving at a velocity of less than 50 cm/seconds reduced success rate to 16.6% with sample size of 6. A valid reason could be that as the puck cannot get enough acceleration to avoid being affected by physical properties like warping of the table, the direction of the puck is affected. The robot moves to the predicted position assuming that the puck will always move linearly.
Nevertheless, the robot had the most success hitting the range within 50 to 99 cm/seconds with 85.7% success rate with a sample size of 14. Therefore, the robot successfully hit the puck 12 out of 14 times for this category. However, as the speed increases, success rate also reduces with 73.3% at speed range between 100 to 149 cm/seconds with sampling size of 15, 37.5% at speed range between 150 to 199 cm/seconds with sampling size of 8 and 30.8% at speed range between 200 to 250 cm/seconds with sampling size of 13.
Immanuel
This blog will cover the results gained from testing the accuracy of the robot successfully hitting the puck at varying speeds. Below is a graph of the results.
 |
| Relationship between successfully hitting the puck at varying speeds |
The robot couldn't hit a moving puck with a velocity of over 250 cm/second as it didn't have enough time to react. Increasing the speed of the robot will not solve this problem as there will always be an initial delay before executing every motion commands due to the download approach that the ROS-Industrial driver provides for the ABB IRB 120.
Although, the system prefers slower puck to allow enough time for the robot to react, a puck moving at a velocity of less than 50 cm/seconds reduced success rate to 16.6% with sample size of 6. A valid reason could be that as the puck cannot get enough acceleration to avoid being affected by physical properties like warping of the table, the direction of the puck is affected. The robot moves to the predicted position assuming that the puck will always move linearly.
Nevertheless, the robot had the most success hitting the range within 50 to 99 cm/seconds with 85.7% success rate with a sample size of 14. Therefore, the robot successfully hit the puck 12 out of 14 times for this category. However, as the speed increases, success rate also reduces with 73.3% at speed range between 100 to 149 cm/seconds with sampling size of 15, 37.5% at speed range between 150 to 199 cm/seconds with sampling size of 8 and 30.8% at speed range between 200 to 250 cm/seconds with sampling size of 13.
Immanuel
Comments
Post a Comment