{"id":258965,"date":"2022-01-19T09:30:00","date_gmt":"2022-01-19T14:30:00","guid":{"rendered":"https:\/\/apimetrology.com\/?p=258965"},"modified":"2023-05-23T22:48:08","modified_gmt":"2023-05-24T02:48:08","slug":"comment-ca-marche-rms","status":"publish","type":"post","link":"https:\/\/apimetrology.com\/fr\/comment-ca-marche-rms\/","title":{"rendered":"Comment \u00e7a marche – RMS"},"content":{"rendered":"\n
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En pr\u00e8s de 60 ans de d\u00e9veloppement, de production et de performance des robots industriels, un probl\u00e8me majeur est toujours rest\u00e9 : Les robots ont une excellente r\u00e9p\u00e9tabilit\u00e9, mais leur r\u00e9p\u00e9tabilit\u00e9 les emp\u00eache d’\u00eatre pr\u00e9cis. Comme nous l’avons expliqu\u00e9 dans d’autres vid\u00e9os, pour \u00eatre vraiment pr\u00e9cis, un robot doit \u00eatre r\u00e9gl\u00e9 de mani\u00e8re r\u00e9p\u00e9titive sur un point souhait\u00e9. Ce manque de pr\u00e9cision peut limiter l’utilisation des robots industriels et les emp\u00eacher d’atteindre leur plein potentiel, en particulier dans les secteurs o\u00f9 les tol\u00e9rances sont tr\u00e8s \u00e9lev\u00e9es.<\/p>\n\n\n\n

Depuis plusieurs d\u00e9cennies, l’\u00e9talonnage des robots est un sujet central pour les fabricants de robots et les organisations telles que l’Organisation internationale de normalisation (ISO). En fait, l’ISO a publi\u00e9 en 1998 une s\u00e9rie de directives pour la manipulation et le contr\u00f4le des robots industriels. Ces directives rel\u00e8vent de la norme ISO 9283 et mentionnent 14 caract\u00e9ristiques de performance diff\u00e9rentes pour les robots industriels, qui doivent \u00eatre test\u00e9es afin de garantir leur performance. Parmi celles-ci, la pr\u00e9cision et la r\u00e9p\u00e9tabilit\u00e9 de la pose, la pr\u00e9cision et la r\u00e9p\u00e9tabilit\u00e9 de la distance, la stabilisation de la position et le d\u00e9passement, la pr\u00e9cision et la r\u00e9p\u00e9tabilit\u00e9 de la trajectoire (avec et sans r\u00e9orientation) et les \u00e9carts par rapport \u00e0 celles-ci.<\/p>\n\n\n\n

Parall\u00e8lement \u00e0 ces normes, de grands progr\u00e8s ont \u00e9t\u00e9 r\u00e9alis\u00e9s dans le domaine des cibles de laser tracker automatis\u00e9es et des logiciels capables de cr\u00e9er des environnements robotiques virtuels afin d’activer le plein potentiel de ces robots industriels. De nouvelles solutions d’\u00e9talonnage, telles que la Robot Metrology Solution (RMS) d’API, ont contribu\u00e9 \u00e0 \u00e9tendre les applications robotiques \u00e0 l’usinage, au per\u00e7age et \u00e0 l’impression 3D pour les industries \u00e0 tol\u00e9rances \u00e9lev\u00e9es, \u00e0 rendre les robots personnalis\u00e9s plus uniformes et \u00e0 restaurer les performances des unit\u00e9s obsol\u00e8tes et \u00e0 prolonger leur dur\u00e9e de vie.<\/p>\n\n\n\n

Nous avons regard\u00e9 de plus pr\u00e8s comment fonctionne l’\u00e9talonnage des robots industriels. Pour comprendre cela, nous devons examiner les trois \u00e9tapes principales \u00e0 respecter lors de l’\u00e9talonnage : La mise en place, les mesures ainsi que l’\u00e9talonnage et la compensation.<\/p>\n\n\n\n

Installation <\/h2>\n\n\n\n

Pour tester l’un des param\u00e8tres d\u00e9finis dans la norme ISO 9283, le robot doit \u00eatre configur\u00e9 de mani\u00e8re \u00e0 se d\u00e9placer le long d’une trajectoire clairement d\u00e9finie \u00e0 l’int\u00e9rieur d’un “cube de test”. Le cube de test doit \u00eatre le plus grand cube possible pouvant entrer dans la zone de travail du robot. Par cons\u00e9quent, le logiciel qui g\u00e8re l’environnement num\u00e9rique du robot et le contr\u00f4leur du robot doivent tous deux \u00eatre configur\u00e9s pour suivre la trajectoire souhait\u00e9e afin de tester une ou plusieurs des propri\u00e9t\u00e9s ISO. Ce mod\u00e8le cin\u00e9matique DH ou VEC (Volumetric Error Compensation) est utilis\u00e9 comme point de r\u00e9f\u00e9rence direct dans les deux \u00e9tapes suivantes. Pendant ce processus, le laser de poursuite (par ex. APIs Radian) est configur\u00e9 pour la mesure et une cible intelligente (par ex. APIs SmartTrack Sensor) ou une collection de SMR est fix\u00e9e directement sur l’effecteur final du robot.<\/p>\n\n\n\n

Mesures <\/strong> <\/h2>\n\n\n\n

D\u00e8s que le logiciel, le tracker et la cible sont pr\u00eats, le robot commence \u00e0 se d\u00e9placer sur sa trajectoire pr\u00e9programm\u00e9e. Pendant ses mouvements, le laser tracker suit la cible intelligente, qui adapte automatiquement sa position au faisceau laser. Ils collectent des donn\u00e9es sur la position du robot, pr\u00e9cises \u00e0 quelques microns pr\u00e8s, et transmettent ces donn\u00e9es au logiciel. Dans le logiciel, les donn\u00e9es en temps r\u00e9el du tracker sont superpos\u00e9es aux donn\u00e9es de trajectoire planifi\u00e9es dans le mod\u00e8le num\u00e9rique. De cette mani\u00e8re, le logiciel peut d\u00e9terminer les \u00e9carts par rapport \u00e0 la trajectoire en temps r\u00e9el et corriger les performances du robot pendant la trajectoire. Pour r\u00e9pondre aux normes ISO 9283, la pr\u00e9cision de position et la r\u00e9p\u00e9tabilit\u00e9 devaient \u00eatre mesur\u00e9es 30 fois dans cinq configurations diff\u00e9rentes. Cependant, RMS et de nombreux autres packs d’\u00e9talonnage mesurent beaucoup plus de configurations pour s’adapter aux conceptions robotiques plus complexes d’aujourd’hui.<\/p>\n\n\n\n

Calibrage et compensation<\/strong> <\/h2>\n\n\n\n

M\u00eame si les corrections de trajectoire peuvent \u00eatre effectu\u00e9es en temps r\u00e9el, les donn\u00e9es du laser de poursuite sont enregistr\u00e9es pour une comparaison plus pr\u00e9cise avec le mod\u00e8le cin\u00e9matique DH ou VEC une fois le parcours termin\u00e9. Ces donn\u00e9es peuvent \u00eatre utilis\u00e9es comme r\u00e9f\u00e9rence pour un autre parcours afin de tester les corrections en temps r\u00e9el. Ils sont \u00e9galement t\u00e9l\u00e9charg\u00e9s automatiquement dans le syst\u00e8me de commande du robot afin d’obtenir une am\u00e9lioration durable des performances. Les mesures peuvent \u00e9galement \u00eatre utilis\u00e9es pour diagnostiquer les probl\u00e8mes m\u00e9caniques du robot qui affectent ses performances et qui doivent \u00eatre r\u00e9par\u00e9s.<\/p>\n\n\n\n

En bref, l’\u00e9talonnage des robots industriels implique un laser de poursuite qui communique avec une cible intelligente ou une s\u00e9rie de SMR mont\u00e9s sur l’effecteur final du robot. Ils surveillent la position absolue du robot pendant qu’il parcourt ses trajectoires. Le logiciel de calibrage peut alors comparer ces donn\u00e9es collect\u00e9es avec le mod\u00e8le cin\u00e9matique DH et transmettre les corrections de la trajectoire et de la position du robot en temps r\u00e9el directement au contr\u00f4leur de la machine. <\/p>\n\n\n\n

RMS d’API offre une solution compl\u00e8te pour l’am\u00e9lioration des robots, combinant le 6DoF Radian Laser Tracker et STS avec un logiciel propri\u00e9taire pour \u00e9valuer les performances des robots. RMS offre une am\u00e9lioration des performances de 12 fois et peut contribuer \u00e0 prolonger la dur\u00e9e de vie de vos installations. Si vous souhaitez en savoir plus sur RMS ou sur les autres offres d’\u00e9talonnage d’API (y compris les laser trackers, les machines-outils et les MMT), visitez apimetrology.com et contactez-nous d\u00e8s aujourd’hui pour parler \u00e0 un v\u00e9ritable m\u00e9trologue.<\/p>\n\n\n\n

Sources : <\/strong><\/p>\n\n\n\n

https:\/\/www.iso.org\/obp\/ui\/#iso:std:iso:9283:ed-2:v1:en<\/a><\/p>\n\n\n\n

https:\/\/robodk.com\/doc\/en\/Robot-Validation-ISO9283.html<\/a><\/p>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

En pr\u00e8s de 60 ans de d\u00e9veloppement, de production et de performance des robots industriels, un probl\u00e8me majeur est toujours rest\u00e9 : Les robots ont une excellente r\u00e9p\u00e9tabilit\u00e9, mais leur r\u00e9p\u00e9tabilit\u00e9 les emp\u00eache d’\u00eatre pr\u00e9cis. Comme nous l’avons expliqu\u00e9 dans d’autres vid\u00e9os, pour \u00eatre vraiment pr\u00e9cis, un robot doit \u00eatre r\u00e9gl\u00e9 de mani\u00e8re r\u00e9p\u00e9titive sur […]<\/p>\n","protected":false},"author":15,"featured_media":258950,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_et_pb_use_builder":"off","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"categories":[114],"tags":[],"class_list":["post-258965","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-video-fr"],"featured_image_src":"https:\/\/apimetrology.com\/wp-content\/uploads\/2022\/01\/220119_How-it-Works_RMS.jpg","author_info":{"display_name":"Admin","author_link":"https:\/\/apimetrology.com\/fr\/author\/api-mcc\/"},"yoast_head":"\nComment \u00e7a marche - RMS - API Metrology<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/apimetrology.com\/fr\/comment-ca-marche-rms\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Comment \u00e7a marche - RMS\" \/>\n<meta property=\"og:description\" content=\"En pr\u00e8s de 60 ans de d\u00e9veloppement, de production et de performance des robots industriels, un probl\u00e8me majeur est toujours rest\u00e9 : Les robots ont une excellente r\u00e9p\u00e9tabilit\u00e9, mais leur r\u00e9p\u00e9tabilit\u00e9 les emp\u00eache d’\u00eatre pr\u00e9cis. 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